CN107054452B - A kind of automatic driving vehicle autosteerer - Google Patents
A kind of automatic driving vehicle autosteerer Download PDFInfo
- Publication number
- CN107054452B CN107054452B CN201710157593.6A CN201710157593A CN107054452B CN 107054452 B CN107054452 B CN 107054452B CN 201710157593 A CN201710157593 A CN 201710157593A CN 107054452 B CN107054452 B CN 107054452B
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- Prior art keywords
- steering
- diverter
- controller
- motor
- electromagnetic clutch
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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
-
- 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
-
- 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
-
- 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 present invention provides a kind of automatic driving vehicle autosteerers, including artificial knuckle section and auto-steering part；Artificial knuckle section includes operating mechanism, diverter (101) and transmission mechanism；Auto-steering is partly installed between operating mechanism and diverter (101) input shaft, and diverter (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 switching of the present apparatus achievable pilot steering and automatic Pilot, it is arranged more flexible, it does not need that position-limit mechanism additionally is installed, while guaranteeing to turn to safe, the mechanical complications for reducing autosteerer improve the portability of platform, easy to loading and unloading, only needing to load and unload the screw that connect with diverter and steering gear input shaft component can be more convenient by autosteerer bulk handling.
Description
Technical field
The present invention relates to automatic driving vehicles to turn to field, especially a kind of dress of automatic driving vehicle auto-steering
It sets.
Background technique
Automatic driving vehicle is one of the important development direction in automobile industry future, in recent years technical field of vehicle by
Concern.Automatic driving vehicle integrates the multidisciplinary technology such as visual perception, artificial intelligence, planning control, it not only search and rescue,
Rescue is scouted etc. and to have important application value in hot missions, and for alleviating the congested in traffic, side such as improve traffic safety
There are very big realistic meaning and development potentiality in face.Currently, unmanned technology, pole are all being studied energetically by many countries in the world
The earth has pushed the development of unmanned technology.
Autosteerer is the very important part of automatic driving vehicle, it can automatically control vehicle steering angle,
So that desirably track travels vehicle.Although current autosteerer has existed kinds of schemes, inevitably all exist
Some defects.
Existing autosteerer has the following disadvantages:
One, steering mechanism is installed on driver's cabin, can adversely affect to the activity space of driver；
Two, mechanism limit aspect, is limited and is protected to steering lock position using the method that mechanism limits, increased
The complexity of mechanism, installation and debugging are not convenient enough.
Three, steering wheel is additionally installed additional, it is very high to the requirements of installation space of vehicle engine compartments.
Summary of the invention
The object of the present invention is to provide a kind of automatic driving vehicle autosteerers, solve automatic steering system and occupy sky
Between it is big, structure is complicated the problem of.
Specifically, the present 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, diverter (101) and transmission mechanism；
The auto-steering is partly installed between operating mechanism and diverter (101) input shaft, diverter (101) output
End is connected with transmission mechanism；
The auto-steering part includes electric motor units, electromagnetic clutch unit, mounting bracket (102), diverter input
Shaft assembly (114), controller unit and damper；
Mounting bracket (102) is installed on diverter (101) input terminal, and electric motor units are fixed on 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 diverter (101) shell, the other end is connected on transmission mechanism.
Further, the steering gear input shaft component (114) by driven gear (301), sunk screw (302) and turns to
Device input shaft connector (303) composition, driven gear (301) and steering gear input shaft connector (303) are by sunk screw (302)
Connection, steering gear input shaft connector (303) one end connect diverter (101) input shaft, and the other end is connected with operating mechanism.
Further, the operating mechanism includes steering wheel, steering shaft；
Steering shaft 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 connect 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 connect by screw with driving gear (106)；Clutch shaft (105) other end
It is installed on mounting bracket (102) by bearing I (104)；Driving gear (106) is engaged with driven gear (301).
Further, described clutch shaft (105) one end is protruded into drive socket (112), passes through key (113) and drive sleeve
Cylinder (112) is connected, meanwhile, the output shaft of motor (111) protrudes 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 on 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 and motor (111) pass through electricity
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 diverter (101), and the other end connects steering drag link (2), steering drag link
(2) it is connected with knuckle arm (3), is sequentially connected tie rod arm (4), track rod (5), damper one end hinge thereafter
It is connected on diverter (101) shell, the other end is connected on steering drag link (2).
Particularly, a kind of automatic steering control method based on the automatic driving vehicle autosteerer.
The present invention provides a kind of automatic driving vehicle autosteerer, achievable pilot steering and automatic Pilot are cut
It changes, using software limit, setting is more flexible, does not need additionally to install position-limit mechanism, while guaranteeing to turn to safe, reduces
The mechanical complications of autosteerer, and occupied space is few, will not have any impact to driver's cabin, improve platform
Portability, it is easy to loading and unloading, it is only necessary to which that the screw that connect with diverter of handling and steering gear input shaft component can will be from turns
It is more convenient to device bulk handling.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is transfer transmission mechanism schematic diagram of the invention；
Fig. 2 is autosteerer main view of the invention；
Fig. 3 is autosteerer top view of the invention；
Fig. 4 is autosteerer right view of the invention；
Fig. 5 is autosteerer steering gear input shaft component overall structure figure of the invention；
Fig. 6 is autosteerer electrical connection schematic diagram of the invention；
Fig. 7 is autosteerer control process flow chart of the invention；
Fig. 8 is autosteerer control process absolute zero position demarcation flow figure of the invention；
Fig. 9 is autosteerer control process software limit demarcation flow figure of the invention.
In figure:
1- pitman arm, 2- steering drag link, 3- knuckle arm, 4- tie rod arm, 5- track rod；
101- diverter, 102- mounting bracket, 103- end cap, 104- bearing I, 105- clutch shaft, 106- driving gear,
107- upper cover plate, 108- electromagnetic clutch, 109- bearing I I, 110- motor hoop component, 111- motor, 112- drive socket,
113- key, 114- steering gear input shaft component, 115- encoder；
The left dust excluding plate of 201-, the right dust excluding plate of 202-；
301- driven gear, 302- sunk screw, 303- steering gear input shaft connector.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
The present invention provides a kind of automatic driving vehicle autosteerer, which includes artificial knuckle section and automatic
Knuckle section.
Artificial knuckle section includes operating mechanism, diverter (101), transmission mechanism.
Operating mechanism includes steering wheel, steering shaft；Steering shaft passes the handling maneuver torque that driver acts on steering wheel
To diverter, steering shaft one end is fixedly connected with steering wheel, and the other end is connected with auto-steering part；
Diverter (101) is recirculating ball-type steering, and 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 diverter (101) output end, and the other end connects steering drag link (2), turns to straight
Pull rod (2) is connected with knuckle arm (3), is sequentially connected tie rod arm (4), track rod (5) thereafter, and track rod (5) is
Connection tie rod arm (4) and the connecting rod for making its co-ordination, bear pulling force and pressure, for driving repeatedly while the car is driving
Turn to rotation to.
Auto-steering is partly installed between operating mechanism and diverter (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)
It covers (103), is made 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 diverter (101) input terminal, effect be installation Motionless electromagnetic clutch unit and
Electric motor units.
As shown in figure 5, the output torque of electric motor units is transferred to diverter (101) by steering gear input shaft component (114),
It is mainly made of driven gear (301), sunk screw (302) and steering gear input shaft connector (303), driven gear (301)
It is connected with steering gear input shaft connector (303) by sunk screw (302), so that driven gear (301) and steering gear input shaft
Connector (303) realization moves synchronously, and when capable of guaranteeing auto-steering, steering wheel is corresponding with the holding of the angle of deflecting roller to be closed
System, so that driver be allowed more clearly to perceive the position of current steering wheel angle, grasps rapidly when to be in an emergency
Situation is simultaneously taken over, and is transformed to pilot steering by automatic Pilot.Steering gear input shaft connector (303) splined end connects diverter
(101) input shaft, universal joint fork are connected with steering shaft.
Electric motor units are fixed on mounting bracket (102), and motor (111) front end face is fixed on mounting bracket by screw
(102) on, motor hoop component (110) is installed on 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 measure the output shaft actual steering angle of motor (111), as closed loop
The feedback signal of control improves the integrated level of system, handling using the output shaft actual steering angle of motor (111) as feedback
Conveniently, simultaneously because installation site is between operating mechanism and diverter (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 connect by key with clutch shaft (105)；Clutch shaft (105) one end and motor (111) pass through transmission
Sleeve (112) is connected with two keys (113), and is installed on mounting bracket (102) by bearing I I (109), further,
Clutch shaft (105) one end is protruded into drive socket (112), is connected by key (113) with drive socket (112), meanwhile, electricity
The output shaft of machine (111) protrudes into drive socket (112), is connected by key (113) with drive socket (112), and realization will be electric
The output torque of machine (111) is transferred to electromagnetic clutch unit, which can preferably match different model electromagnetic clutch
(108) and the size for connection of motor (111), has preferable design versatility；Electromagnetic clutch (108) driven end passes through screw
It connect with driving gear (106), is moved synchronously so that electromagnetic clutch (108) is realized with driving gear (106)；Clutch shaft
(105) other end is installed on mounting bracket (102) by bearing I (104)；Driving gear (106) is nibbled with driven gear (301)
It closes, driving form 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 value, and then controls electromagnetic clutch
(108) drive end and the actuation of driven end with separate.When the drive end of electromagnetic clutch (108) is in conjunction with driven end, electromagnetism from
The kinetic energy of motor (111) can be transferred to diverter (101) by clutch (108), be at this time automatic driving mode；Work as electromagnetic clutch
(108) when drive end and driven end separates, electromagnetic clutch (108) is disconnected, and cannot be transferred to the kinetic energy of motor (111) and be turned
It is at this time artificial driving mode 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 measure
The output shaft actual steering angle of obtained motor (111) as closed-loop control feedback signal transmission to steering controller.
Damper one end is hinged on diverter (101) shell, and the other end is connected on steering drag link (2), is prevented
Only deflecting roller occurs self-excitation or is forced to shimmy.
When pilot steering, operating torque is reached steering gear input shaft connector by manual rotation's steering wheel, steering shaft
(303), steering gear input shaft connector (303) reaches the torque diverter (101), and diverter (101) changes the transmission of power
Direction reaches the driving form pitman arm (1), pitman arm (1) by the transmission be successively transferred to steering drag link (2),
Knuckle arm (3), tie rod arm (4), track rod (5), track rod (5) drive deflecting roller to turn to.
When automatic driving mode, output torque is transmitted to drive socket (112), drive sleeve by output shaft by motor (118)
Cylinder (112) reaches the torque clutch shaft (105), and clutch shaft (105) drives electromagnetic clutch (108) and driving gear
(106) it rotates, driven gear (301) and steering gear input shaft connector (303) is driven by driving gear (106), by diverter
The rotation is transmitted to diverter (101) by input shaft connector (303), and diverter (101) changes the transmission direction of power, by the biography
Dynamic form reaches pitman arm (1), pitman arm (1) by the transmission be successively transferred to steering drag link (2), knuckle arm (3),
Tie rod arm (4), track rod (5), track rod (5) drive deflecting roller to turn to.
Specifically, the present invention also provides a kind of automatic steering controls based on the automatic driving vehicle autosteerer
Method, as shown in fig. 7, comprises following steps:
S301: calibration absolute zero position.
S302: whether the current automatic Pilot enabler flags of steering controller inspection are 1, if so, into automatic Pilot mould
Otherwise formula enters pilot steering mode.If system current state is artificial driving mode, steering controller is connect by I/O
Mouthful control relay goes off state, cuts off the power supply of electromagnetic clutch (108), electromagnetic clutch (108) drive end with from
Moved end disconnects, and executes step S302 again；If system current state is automatic driving mode, steering controller passes through
I/O Interface Controller relay becomes closed state, connects the power supply of electromagnetic clutch (108), enters 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
Enabler flags are if 0, then the automatic Pilot enabler flags on steering controller remain unchanged, if the automatic Pilot that host computer is sent
Enabler flags are 1, then the automatic Pilot enabler flags on steering controller will become 1.
S303: steering controller receives the steering shaft expectation steering angle that host computer is sent, if the steering angle is more than
The value of the expectation steering angle is then revised as software limit limiting value by software limit limiting value, otherwise, is not done to desired steering angle
Change.After being finished, S304 is entered step.
S304: steering controller is obtained the actual steering angle of the output shaft of current motor (111) by encoder (115), into
Enter step S305.
S305: steering controller calculates the algebra difference of expectation steering angle and actual steering angle, if the difference is being set
In threshold range, then it is assumed that current steering system has arrived at desired locations, does not control motor (111), return step
S302, into next circulation；If the difference is more than given threshold, then it is assumed that current steering system not yet reaches expectation position
It sets, driving motor (111) turns to desired steering angle, and return step S302, into next circulation.
In above-mentioned steps, the communication between host computer and steering controller can be serial communication or CAN communication；It turns to
Controller by I/O logical value drive relay on-off, and then control electromagnetic clutch (108) actuation with separate.
Due to switching artificial/automatic driving mode using electromagnetic clutch (108), enter automatic Pilot mould each time
When formula, the staking-out work of absolute zero position will be carried out.It is specifically included as shown in figure 8, demarcating absolute zero position in above-mentioned steps S301
Following steps:
S101: electromagnetic clutch (108) power-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) are powered, and encoder feedback value is at this time 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: calibration absolute zero position, calibration process are identical as the process of absolute zero position is demarcated in step S301.
S202: keeping electromagnetic clutch (108) to be attracted, and under vehicle stationary state, manual rotation's steering wheel demarcates steering system
Encoder numerical value when system is in Derivative limit on the left or on the right, as software limit limiting value.
In conclusion the present invention provides a kind of automatic driving vehicle autosteerer, achievable pilot steering with from
The dynamic switching driven, using software limit, setting is more flexible, does not need additionally to install position-limit mechanism, is guaranteeing to turn to safety
While, reduce the mechanical complications of autosteerer, and occupied space is few, will not have any impact to driver's cabin,
The portability of platform is improved, it is easy to loading and unloading, it is only necessary to the screw and steering gear input shaft component that handling are connect with diverter
It can be more convenient by autosteerer bulk handling.
Although having been combined preferred embodiment to be described in detail the present invention, those skilled in the art are answered
What it is when understanding is without prejudice to spirit of that invention and essence, and various amendments are all allowed, they both fall within this hair
Among bright scope of protection of the claims.
Claims (8)
1. a kind of automatic driving vehicle autosteerer, which is characterized in that including artificial knuckle section and auto-steering part；
The artificial knuckle section includes operating mechanism, diverter (101) and transmission mechanism；
The auto-steering is partly installed between operating mechanism and diverter (101) input shaft, diverter (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 diverter (101) input terminal, and electric motor units are fixed on 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 diverter
(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) shell, the other end is connected on transmission mechanism；
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 connect 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 is installed on mounting bracket (102) by bearing I I (109)
On, electromagnetic clutch (108) driven end is connect by screw with driving gear (106)；Clutch shaft (105) other end passes through axis
I (104) is held to be installed on mounting bracket (102)；Driving gear (106) is engaged with driven gear (301)；
The steering gear input shaft component (114) is connected by driven gear (301), sunk screw (302) with steering gear input shaft
Body (303) composition, driven gear (301) and steering gear input shaft connector (303) are connected by sunk screw (302), diverter
Input shaft connector (303) one end connects diverter (101) input shaft, and the other end is connected with operating mechanism.
2. a kind of automatic driving vehicle autosteerer according to claim 1, which is characterized in that the operating mechanism
Including steering wheel, steering shaft；
Steering shaft one end is fixedly connected with steering wheel, and the other end is connected with steering gear input shaft connector (303).
3. a kind of automatic driving vehicle autosteerer according to claim 2, which is characterized in that the clutch shaft
(105) one end is protruded into drive socket (112), is connected by key (113) with drive socket (112), meanwhile, motor (111)
Output shaft protrude into drive socket (112), be connected by key (113) with drive socket (112).
4. a kind of automatic driving vehicle autosteerer according to claim 1, which is characterized in that the electric motor units
Including encoder (115), motor (111), motor hoop component (110)；
Motor (111) front end face is fixed on mounting bracket (102) by screw, and motor hoop component (110) is installed on installation
On bracket (102), to support motor (111) rear end；Encoder (115) is installed on motor (111).
5. a kind of automatic driving vehicle autosteerer according to claim 1, which is characterized 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.
6. a kind of automatic driving vehicle autosteerer according to claim 5, which is characterized in that the mounting bracket
(102) upper cover plate (107), left dust excluding plate (201), right dust excluding plate (202), end cap (103) are fixed with by screw on, by installation branch
Frame (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.
7. a kind of automatic driving vehicle autosteerer according to claim 6, which is characterized 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 diverter (101), the other end connect steering drag link (2), steering drag link (2) with
Knuckle arm (3) is connected, and is sequentially connected tie rod arm (4), track rod (5) thereafter, described damper one end is hinged to
On diverter (101) shell, the other end is connected on steering drag link (2).
8. a kind of automatic steering control side based on any one of the claim 1-7 automatic driving vehicle autosteerer
Method, comprising the following steps:
S301: calibration absolute zero position；
S302: whether the current automatic Pilot enabler flags of steering controller inspection are 1, if so, into automatic driving mode, it is no
Then enter pilot steering mode；If system current state is artificial driving mode, steering controller passes through I/O Interface Controller
Relay goes off state, cuts off the power supply of electromagnetic clutch (108), and electromagnetic clutch (108) drive end and driven end are disconnected
Connection is opened, executes step S302 again；If system current state is automatic driving mode, steering controller is connect by I/O
Mouth control relay becomes closed state, connects the power supply of electromagnetic clutch (108), enters step S303；
Automatic Pilot enabler flags include 0 and 1, wherein 0 represents pilot steering, 1 represents automatic Pilot；The mark is sent out by host computer
It send to steering controller, the automatic Pilot enabler flags on steering controller are defaulted as 0, and the automatic Pilot that host computer is sent is enabled
Mark is if 0, then the automatic Pilot enabler flags on steering controller remain unchanged, if the automatic Pilot that host computer is sent is enabled
Mark is 1, then the automatic Pilot enabler flags on steering controller will become 1；
S303: steering controller receives the steering shaft expectation steering angle that host computer is sent, if the steering angle is more than software
Limiting value is limited, then the value of the expectation steering angle is revised as software limit limiting value, otherwise, desired steering angle is not done and is changed
It is dynamic；After being finished, S304 is entered step；
S304: steering controller is obtained the actual steering angle of the output shaft of current motor (111) by encoder (115), into step
Rapid S305；
S305: steering controller calculates the algebra difference of expectation steering angle and actual steering angle, if the difference is in given threshold
In range, then it is assumed that current steering system has arrived at desired locations, does not control motor (111), return step S302,
Into next circulation；If the difference is more than given threshold, then it is assumed that current steering system not yet reaches desired locations, drives
Motor (111) turns to desired steering angle, and return step S302, into next circulation.
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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| Publication Number | Publication Date |
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| CN107054452A CN107054452A (en) | 2017-08-18 |
| CN107054452B true CN107054452B (en) | 2019-01-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107054452A (en) | 2017-08-18 |
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