CN108045430A - Dual redundant electrically powered steering apparatus using same - Google Patents
Dual redundant electrically powered steering apparatus using same Download PDFInfo
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- CN108045430A CN108045430A CN201810009214.3A CN201810009214A CN108045430A CN 108045430 A CN108045430 A CN 108045430A CN 201810009214 A CN201810009214 A CN 201810009214A CN 108045430 A CN108045430 A CN 108045430A
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- steering mechanism
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- 230000009977 dual effect Effects 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 93
- 230000003993 interaction Effects 0.000 claims description 8
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- 230000005389 magnetism Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 1
- 238000012546 transfer Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
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- 230000007423 decrease Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- HOQADATXFBOEGG-UHFFFAOYSA-N isofenphos Chemical compound CCOP(=S)(NC(C)C)OC1=CC=CC=C1C(=O)OC(C)C HOQADATXFBOEGG-UHFFFAOYSA-N 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
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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
- B62D5/0409—Electric motor acting on the steering column
-
- 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
- B62D5/0424—Electric motor acting on or near steering gear the axes of motor and final driven element of steering gear, e.g. rack, being parallel
-
- 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
- B62D5/0433—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 the clutch being of on-off type
-
- 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
- B62D5/0442—Conversion of rotational into longitudinal movement
- B62D5/0454—Worm gears
-
- 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
- B62D5/0475—Controlling other elements
- B62D5/0478—Clutches
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a kind of dual redundant electrically powered steering apparatus using sames, including steering wheel, turn to input shaft, pipe column type electric steering mechanism, rack-and-pinion electric steering mechanism and rack；The steering wheel is with turning to input axis connection；The steering input shaft lower end is provided with gear, the wheel and rack engagement；The pipe column type electric steering mechanism is used to apply torque to the steering input shaft；The rack-and-pinion electric powered steering structure is used to that the rack linear to be driven to move.The electric transfer of the dual redundant of the present invention, improves reliability and security, realizes the efficient cooperation of system dual redundant control so that electric power steering still has the ability of redundancy active steering in failure；Under the extreme conditions such as power failure, device also has mechanical steering gear, and driver can take over the control to motor turning, preferably be protected.
Description
Technical field
The present invention relates to a kind of intelligent driving technical field of vehicle, and in particular to a kind of dual redundant electric power steering dress
It puts.
Background technology
Since the 1970s, the developed countries such as the U.S., Britain, Germany proceed by the research of intelligent driving,
Feasibility and practical aspect all achieve breakthrough progress.
The unmanned ultimate aim as intelligent driving field perceives road environment, automatically by vehicle-mounted sensor-based system
Planning travelling line simultaneously controls vehicle to reach predeterminated target.It perceives vehicle-periphery using onboard sensor, and according to
Obtained road, vehicle location and obstacle information are perceived, steering and the speed of vehicle are controlled, so as to enable the vehicle to pacify
Entirely, reliably travelled on road.Unmanned is the production of computer science, pattern-recognition and intelligent control technology high development
Object and an important symbol for weighing a national research strength and industrial level, have in national defence and national economy field
Wide application prospect.
Electric power steering technology is as the upstart in automobile steering system, by the development of decades, more into
It is ripe.And the active steering ability that it has, it can also meet the requirement of automatic driving vehicle course changing control." safely " it is unmanned
One important prerequisite of technology popularization, but the ability for the steering that can lose the initiative after traditional electric boosting steering system failure, may
Inestimable injury can be brought to pilotless automobile and passenger.Therefore, redundancy is increased for electric power-assisted steering apparatus,
It is made to remain to keep active steering ability in malfunction and failure, can effectively improve the reliability and security of system, is nothing
The development of people's driving technology provides safeguard.
At present, in known technology, there are a kind of motorcar electric steering mechanism (CN1426920A) and wire-controlled steering system
(CN105916748A), the two is that wire-controlled steering system structure is innovated, with the security of more times of increase steering
Premised on；Also a kind of motorcar electric steering mechanism (CN104015781A) has Flexible Transmission part, C-EPS and PEPS, but
Its essence or the electric power steering different from conventional belt manual steering gear, but a kind of line for increasing redundancy with Flexible Transmission
Control turns to.It is mostly to increase wire-controlled steering system redundancy to improve its security to have patent, but since steering-by-wire is to safety
High requirement, and government regulation will not also allow road on the vehicle with complete wire-controlled steering system to travel in a short time, because
This, redundant safety improvement is carried out to traditional electric power steering, and the demand and steering mechanism for adapting it to intelligent driving adapt to
One connecting way of intelligent driving development.
The content of the invention
The invention aims to solve current traditional electric boosting steering system be applied to it is unmanned during,
The problem of ability of active steering can be lost after breaking down, provides a kind of electric transfer with dual redundant, with
It is target to improve reliability and security, realizes the efficient cooperation of system dual redundant control so that electric power steering is in failure
When still have the ability of redundancy active steering；Under the extreme conditions such as power failure, device also has mechanical steering gear, driver
The control to motor turning can be taken over, is preferably protected.
The present invention solves technical problem and adopts the following technical scheme that：A kind of dual redundant electrically powered steering apparatus using same, including direction
Disk turns to input shaft, pipe column type electric steering mechanism, rack-and-pinion electric steering mechanism and rack；
The steering wheel is with turning to input axis connection；The steering input shaft lower end is provided with gear, the gear and tooth
Item engages；
The pipe column type electric steering mechanism is used to apply torque to the steering input shaft；
The rack-and-pinion electric powered steering structure is used to that the rack linear to be driven to move.
Optionally, the rack-and-pinion electric powered steering structure includes the first actuating motor, the first electromagnetic clutch and ball wire
Thick stick mechanism, first actuating motor are connected by the ball-screw of the first electromagnetic clutch and ball screw framework, the rolling
The ball screw of ballscrew machine is mutually fixed with the rack, when ball screw turns and when the ball screw being driven to move, institute
It states ball screw and drives the rack movement.
Optionally, the pipe column type electric steering mechanism includes worm gear mechanism, the second electromagnetic clutch and second is held
Row motor, the worm gear coaxial arrangement of the worm gear mechanism are turned in described on input shaft, the snail of the worm gear mechanism
Bar is connected by the second electromagnetic clutch with the second actuating motor.
Optionally, first actuating motor for permanent magnet synchronous motor and/or, second actuating motor is same for permanent magnetism
Walk motor.
Optionally, the dual redundant electrically powered steering apparatus using same further include steering wheel torque sensor, the near front wheel rotary angle transmitter,
Off-front wheel rotary angle transmitter, master controller, submaster controller and chassis domain controller；
The steering wheel torque sensor, the near front wheel rotary angle transmitter and off-front wheel rotary angle transmitter are controlled with chassis domain
Device connects, and the steering wheel torque sensor is used to detect the torque that driver is inputted by steering wheel, and this is turned round
Square signal is sent to the chassis domain controller；The near front wheel rotary angle transmitter is for detecting the near front wheel corner, and by the left side
Front wheel angle signal is sent to the chassis domain controller；The off-front wheel rotary angle transmitter is used to detect off-front wheel corner, and
The off-front wheel angular signal is sent to the chassis domain controller；
The chassis domain controller is communicated between master controller and submaster controller by vehicle bus；
The chassis domain controller calculates track following crosswise joint target according to unmanned track following demand,
And pass through bus and track following crosswise joint target is sent to master controller and submaster controller execution.
Optionally, the chassis domain controller monitoring rack-and-pinion electric steering mechanism and the shape of pipe column type electric steering mechanism
State, if the state of rack-and-pinion electric steering mechanism and pipe column type electric steering mechanism is normal, the first electromagnetic clutch is closed,
Second electromagnetic clutch disconnects, and rack-and-pinion electric steering mechanism carries out unmanned vehicle front-wheel corner control, and pipe column type electric turns to
Mechanism awaits orders；If rack-and-pinion electric steering mechanism failure, chassis domain controller disconnects the first electromagnetic clutch, is closed the second electromagnetism
Clutch carries out front wheel angle control by pipe column type electric steering mechanism, and occupant's vehicle will be notified by human-computer interaction interface
Steering unit failure, and automotive occupant is asked to take over the course changing control to vehicle as early as possible；
For the master controller for being driven control to rack-and-pinion electric steering mechanism, reception comes from the control of chassis domain
The vehicle front-wheel target rotation angle demand of device, calculates output torque needed for the first actuating motor of rack-and-pinion electric steering mechanism,
And it is driven to export suitable steering moment so that unmanned vehicle front corner meets track following demand；Master controller will also be certainly
Body state passes to chassis domain controller and submaster controller by vehicle bus, whether judges master controller by chassis domain controller
Failure will disconnect the first electromagnetic clutch in rack-and-pinion electric steering mechanism if failure；
The submaster controller will assist in chassis domain controller to main control when rack-and-pinion electric steering mechanism works normally
Device state is monitored, and monitored results are sent to chassis domain controller by vehicle bus and are judged；Period, sub-control
Device is also calculated to automatic driving vehicle front-wheel steer demand for control, is not driven control to the second actuating motor；
In master controller or rack electric steering mechanism failure, submaster controller is responsible for controlling pipe column type electric steering mechanism,
The vehicle front-wheel target rotation angle demand for coming from chassis domain controller is received, calculate pipe column type electric steering mechanism second is held
Output torque needed for row motor, and it is driven to export suitable steering moment, rack-and-pinion electric steering mechanism is substituted to unmanned
Vehicle front carries out course changing control.
The present invention has the advantages that：
1st, integrated level is high：Pipe column type electric steering mechanism and the steering of rack-and-pinion motor drive mechanism are integrated into a set of mechanical steering
Device can be transformed on the basis of traditional electric boosting steering system, it is easy to accomplish.
2nd, security, highly reliable：Dual redundant electrically powered steering apparatus using same includes rack-and-pinion electric steering mechanism and pipe column type electricity
Dynamic two steering execution units of steering mechanism, when one of them breaks down, another steering mechanism still has the ability to vehicle
Carry out active steering control, the personal safety of occupant in effective guarantee automatic driving vehicle.
3rd, it is intelligent：Auto-steering function is realized by electrically powered steering apparatus using same, without pilot control, is controlled in chassis domain
Under the coordination control of device, unmanned intelligent driving is realized.
4th, human-computer interaction degree is high：Automatic driving vehicle occupant can learn electrically powered steering apparatus using same shape by human-computer interaction interface
State, and its control to Vehicular turn can be taken at any time.
Description of the drawings
Fig. 1 is the structure diagram of the dual redundant electrically powered steering apparatus using same of the present invention；
Fig. 2 is the connection relationship diagram of the chassis domain controller of the present invention；
The mark in the figure shows：1- steering wheels；2- turns to input shaft；3- torque angle sensors；4- worm gear mechanisms；
The second electromagnetic clutch of 5-；The first actuating motors of 6-；The first electromagnetic clutch of 7-；9- ball screw frameworks；10- racks；11- turns
To drag link；12- the near front wheel rotary angle transmitters；13- off-front wheel rotary angle transmitters；The second actuating motors of 14-；15- pipe column types electricity
Dynamic steering mechanism；16- rack-and-pinion electric steering mechanisms；17- chassis domain controller；18- master controllers；19- submaster controllers；20-
Human-computer interaction interface；21- vehicle bus.
Specific embodiment
Technical scheme is further elaborated with reference to embodiment and attached drawing.
Embodiment 1
A kind of dual redundant electrically powered steering apparatus using same is present embodiments provided, including steering wheel 1, turns to input shaft 2, pipe column type
Electric steering mechanism 15, rack-and-pinion electric steering mechanism 16 and rack 10.
Steering wheel 1 is connected with turning to input shaft 2, and the pipe column type electric steering mechanism 15 is used for the steering input shaft
2 apply torque, and 2 lower end of the steering input shaft is provided with gear, and the wheel and rack 10 engages, so as to turn to input shaft
Power exported by rack to wheel, and then realize the steering of vehicle.
The rack-and-pinion electric powered steering structure 16 is used to that the rack 10 to be driven to move along a straight line, it is preferable that the rack-and-pinion
Electric powered steering structure 16 includes the first actuating motor 6, the first electromagnetic clutch 7 and ball screw framework 9, and described first performs electricity
Machine 6 is connected by the first electromagnetic clutch with ball screw framework 9, i.e. is connected with the ball-screw of the ball screw framework 9
It connects, to drive the ball screw turns by first actuating motor 6, the ball screw framework connects with the rack 10
It connects, such as the ball screw of the ball screw framework 9 is mutually fixed with the rack, so as in ball screw turns and drive institute
When stating ball screw movement, the ball screw drives the rack 10 to move.
It is highly preferred that first actuating motor 6 selects permanent magnet synchronous motor, power of motor and output torque are driven by nobody
It sails Vehicular turn power demand and 9 gearratio of ball-screw determines.
The pipe column type electric steering mechanism 15 includes worm gear mechanism 4, the second electromagnetic clutch 5 and second performs electricity
Machine 14, second actuating motor 14 are sequentially connected the worm gear mechanism 4 by the second electromagnetic clutch 5, the present embodiment
In, the worm gear coaxial arrangement of the worm gear mechanism is turned in described on input shaft 2, the worm screw of the worm gear mechanism 4
It is connected with the second actuating motor 14, the second actuating motor 14 selects permanent magnet synchronous motor, and power of motor and output torque are by nobody
Steering vehicle turning power demand and 4 gearratio of worm and gear determine.
In the present embodiment, the dual redundant electrically powered steering apparatus using same further includes steering wheel torque sensor 3, the near front wheel corner passes
Sensor 12, off-front wheel rotary angle transmitter 13, master controller 18, submaster controller 19 and chassis domain controller 17.
The steering wheel torque sensor 3, the near front wheel rotary angle transmitter 12 and off-front wheel rotary angle transmitter 13 are and chassis
Domain controller 17 connects, and the steering wheel torque sensor 3 is used to detect the torsion that driver is inputted by steering wheel 1
Square, and the torque signal is sent to the chassis domain controller 17；The near front wheel rotary angle transmitter 12 is left front for detecting
Corner is taken turns, and the near front wheel angular signal is sent to the chassis domain controller 17；The off-front wheel rotary angle transmitter 13 is used
In detection off-front wheel corner, and the off-front wheel angular signal is sent to the chassis domain controller 17.
By vehicle-mounted between the chassis domain controller 17 and the master controller 18 of electric steering mechanism and submaster controller 19
Bus 21 communicates.
The chassis domain controller 17 goes out track following according to unmanned track following demand with suitable logical calculated
Crosswise joint target, and pass through that control targe is sent to master controller 18 by bus and submaster controller 19 performs.
The chassis domain controller 17 monitors rack-and-pinion electric steering mechanism 16 and the shape of pipe column type electric steering mechanism 15
State, if the state of rack-and-pinion electric steering mechanism 16 and pipe column type electric steering mechanism 15 is normal, the first electromagnetic clutch 7
It being closed, the second electromagnetic clutch 5 disconnects, and is responsible for carrying out corner control to unmanned vehicle front-wheel by rack-and-pinion electric steering mechanism 16,
Pipe column type electric steering mechanism 15 awaits orders；If 16 failure of rack-and-pinion electric steering mechanism, chassis domain controller 17 will be switched off first
Electromagnetic clutch 7 is closed the second electromagnetic clutch 5, front wheel angle control is carried out by pipe column type electric steering mechanism 15, same with this
When occupant's Vehicular turn cell failure will be also notified by human-computer interaction interface 20, and automotive occupant is asked to be taken over as early as possible to vehicle
Course changing control.
For the master controller 18 for being driven control to rack-and-pinion electric steering mechanism 16, reception comes from chassis domain
The vehicle front-wheel target rotation angle demand of controller 17, calculates needed for the first actuating motor 6 of rack-and-pinion electric steering mechanism 16
Output torque, and it is driven to export suitable steering moment so that unmanned vehicle front corner meets track following demand.It is same with this
When, oneself state is also passed to chassis domain controller 17 and submaster controller 19 by master controller 18 by vehicle bus 21, the bottom of by
Discus controller 17 judge master controller 18 whether failure, first in rack-and-pinion electric steering mechanism 16 is will disconnect if failure
Electromagnetic clutch 7.
It is right to will assist in chassis domain controller 17 when rack-and-pinion electric steering mechanism 16 works normally for the submaster controller 19
18 state of master controller is monitored, and monitored results are sent to chassis domain controller 17 by vehicle bus and are judged；
Period, submaster controller 19 is also calculated to automatic driving vehicle front-wheel steer demand for control, but does not perform electricity to second
Machine 14 is driven control；In master controller 18 or rack 16 failure of electric steering mechanism, submaster controller 19 is responsible for tubing string
Formula electric steering mechanism 15 is controlled, and receives the vehicle front-wheel target rotation angle demand for coming from chassis domain controller 17, is calculated
Go out output torque needed for the second actuating motor 14 of pipe column type electric steering mechanism 15, and it driven to export suitable steering moment,
It substitutes rack-and-pinion electric steering mechanism 16 and course changing control is carried out to pilotless automobile front-wheel.
The dual redundant electrically powered steering apparatus using same has power-assisted steering operating mode.Because there is input shaft 2, rack 10 and turn to
The mechanical steering gears such as drag link 11 (track rod 11 is fixed on rack 10), when vehicle is run over unmanned
There are the intention of intervention steering wheel operation or passenger to pass through by 3 signal detection of steering wheel torque sensor to driver in journey
Human-computer interaction interface 20 is sent to system when exiting unmanned instruction, and the dual redundant electrically powered steering apparatus using same is changeable to be electronic
Power-assisted steering operating mode, driver's hand-power signal, the vehicle that chassis domain controller 17 is detected according to steering wheel torque sensor 3
It carries the signals such as speed, the engine speed in bus 21 and sends torque request to master controller 18, be to drive by the first actuating motor 6
The person of sailing provides power steering, and driver is assisted to carry out steering operation.
The dual redundant electrically powered steering apparatus using same of the present invention, is applied to intelligent driving vehicle, and the course of work is：
Chassis domain controller 17 receives the track traveling demand for coming from automatic driving vehicle, and calculates automatic driving vehicle
The required front wheel angle in target trajectory position is moved to by current location；
Chassis domain controller 17 judges the state of master controller 18 and submaster controller 19, if master controller 18 and first performs
Motor 6 do not have failure, then chassis domain controller 17 will be sent to master controller 18 and perform order, be closed at the first electromagnetism from
Clutch 7 disconnects the second electromagnetic clutch 5；
Master controller 18 by the front wheel angle target sent according to chassis domain controller 17 and the near front wheel rotary angle transmitter 12,
Current front wheel angle detected by off-front wheel rotary angle transmitter 13 calculates the steering of output needed for the first actuating motor 6 in real time
Implementation capacity, and the first actuating motor 6 is driven to carry out front wheel angle control to pilotless automobile so that pilotless automobile can be just
Often track traveling.
In whole process, submaster controller 19 and pipe column type electric steering mechanism 15 are standby, and submaster controller 19 is still
The front wheel angle target that chassis domain controller 17 is sent is received, and calculates the steering of output needed for the second actuating motor 14 simultaneously
Implementation capacity, but the second actuating motor 14 is not driven；Submaster controller 19 will also pass through vehicle bus 21 and master controller
18 carry out the exchange of status information, another road insurance whether broken down as verification master controller 18.
When master controller 18 or rack-and-pinion electric steering mechanism 16 break down, chassis domain controller 17 will be to main control
Device 18 and submaster controller 19 carry out verification communication, are confirmed whether to break down, if fault recognition, chassis domain controller 17 will be switched off
First electromagnetic clutch 7, cut-out rack-and-pinion electric steering mechanism 16 is to the course changing control of pilotless automobile.Meanwhile second is electric
Magnet clutch 5 is closed, and submaster controller 19 will drive the second actuating motor 14 by pipe column type electric steering mechanism 15 to unmanned
Vehicle carries out course changing control.
After 16 failure of rack-and-pinion electric steering mechanism, dual redundant electrically powered steering apparatus using same can reduce inherently safe grade,
And pass through human-computer interaction interface 21 and inform passenger's system steering mechanism since failure causes safe class to decline, ask occupant
The course changing control to vehicle is taken over as early as possible.
Before occupant is not taken over to the control of vehicle, automatic driving vehicle will be in pipe column type electric steering mechanism 15
Continue to travel under control, meanwhile, chassis domain controller 17 will notify vehicle to cook up secure path, and control vehicle as early as possible
Select safety place pulling over observing.
The sequencing of above example only for ease of description, does not represent the quality of embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in foregoing embodiments or carry out equivalent substitution to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical solution spirit and
Scope.
Claims (6)
1. a kind of dual redundant electrically powered steering apparatus using same, which is characterized in that including steering wheel, turn to input shaft, pipe column type electric steering
Mechanism, rack-and-pinion electric steering mechanism and rack；
The steering wheel is with turning to input axis connection；The steering input shaft lower end is provided with gear, and the wheel and rack is nibbled
It closes；
The pipe column type electric steering mechanism is used to apply torque to the steering input shaft；
The rack-and-pinion electric powered steering structure is used to that the rack linear to be driven to move.
2. dual redundant electrically powered steering apparatus using same according to claim 1, which is characterized in that the rack-and-pinion electric powered steering structure
Including the first actuating motor, the first electromagnetic clutch and ball screw framework, first actuating motor by the first electromagnetism from
The ball-screw of clutch and ball screw framework connects, and ball screw and the rack of the ball-screw machine are mutually fixed, when
Ball screw turns and when driving the ball screw to move, the ball screw drives the rack movement.
3. dual redundant electrically powered steering apparatus using same according to claim 2, which is characterized in that the pipe column type electric steering mechanism
Including worm gear mechanism, the second electromagnetic clutch and the second actuating motor, the worm gear of the worm gear mechanism is coaxially disposed
In on the steering input shaft, the worm screw of the worm gear mechanism is connected by the second electromagnetic clutch and the second actuating motor
It connects.
4. dual redundant electrically powered steering apparatus using same according to claim 3, which is characterized in that first actuating motor is permanent magnetism
Synchronous motor and/or, second actuating motor be permanent magnet synchronous motor.
5. dual redundant electrically powered steering apparatus using same according to claim 3, which is characterized in that further include steering wheel torque sensing
Device, the near front wheel rotary angle transmitter, off-front wheel rotary angle transmitter, master controller, submaster controller and chassis domain controller；
The steering wheel torque sensor, the near front wheel rotary angle transmitter and off-front wheel rotary angle transmitter connect with chassis domain controller
It connects, and the steering wheel torque sensor is used to detect the torque that driver is inputted by steering wheel, and the torque is believed
Number it is sent to the chassis domain controller；The near front wheel rotary angle transmitter is for detecting the near front wheel corner, and by the near front wheel
Angular signal is sent to the chassis domain controller；The off-front wheel rotary angle transmitter is used to detect off-front wheel corner, and should
Off-front wheel angular signal is sent to the chassis domain controller；
The chassis domain controller is communicated between master controller and submaster controller by vehicle bus；
The chassis domain controller calculates track following crosswise joint target, and leads to according to unmanned track following demand
It crosses bus and track following crosswise joint target is sent to master controller and submaster controller execution.
6. dual redundant electrically powered steering apparatus using same according to claim 5, which is characterized in that the chassis domain controller monitors tooth
Formula electric steering mechanism and the state of pipe column type electric steering mechanism, if rack-and-pinion electric steering mechanism and pipe column type electric turn
Normal to the state of mechanism, then the first electromagnetic clutch is closed, and the second electromagnetic clutch disconnects, rack-and-pinion electric steering mechanism
Corner control is carried out to unmanned vehicle front-wheel, pipe column type electric steering mechanism awaits orders；If rack-and-pinion electric steering mechanism failure, chassis
Domain controller disconnects the first electromagnetic clutch, is closed the second electromagnetic clutch, rotation before being carried out by pipe column type electric steering mechanism
Angle controls, and occupant's Vehicular turn cell failure will be notified by human-computer interaction interface, and automotive occupant is asked to be taken over as early as possible pair
The course changing control of vehicle；
For the master controller for being driven control to rack-and-pinion electric steering mechanism, reception comes from chassis domain controller
Vehicle front-wheel target rotation angle demand, calculates output torque needed for the first actuating motor of rack-and-pinion electric steering mechanism, and drives
It moves it and exports suitable steering moment so that unmanned vehicle front corner meets track following demand；Master controller is also by itself shape
State passes to chassis domain controller and submaster controller by vehicle bus, judges whether master controller is former by chassis domain controller
Barrier, will disconnect the first electromagnetic clutch in rack-and-pinion electric steering mechanism if failure；
The submaster controller will assist in chassis domain controller to master controller shape when rack-and-pinion electric steering mechanism works normally
State is monitored, and monitored results are sent to chassis domain controller by vehicle bus and are judged；Period, submaster controller
It is calculated to automatic driving vehicle front-wheel steer demand for control, control is not driven to the second actuating motor；In master
When controller or rack electric steering mechanism failure, submaster controller is responsible for controlling pipe column type electric steering mechanism, receives
Come from the vehicle front-wheel target rotation angle demand of chassis domain controller, calculate pipe column type electric steering mechanism second performs electricity
Output torque needed for machine, and it is driven to export suitable steering moment, rack-and-pinion electric steering mechanism is substituted to pilotless automobile
Front-wheel carries out course changing control.
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| CN109760737A (en) * | 2019-02-25 | 2019-05-17 | 南京经纬达汽车科技有限公司 | A kind of line traffic control redundancy steering system |
| CN110001765A (en) * | 2019-02-02 | 2019-07-12 | 北京奥特尼克科技有限公司 | A kind of automobile-used steer by wire apparatus and control method with redundant unit |
| CN110712677A (en) * | 2019-11-29 | 2020-01-21 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
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| CN109249873A (en) * | 2018-11-12 | 2019-01-22 | 天津清智科技有限公司 | A kind of automatic driving vehicle chassis system and Standby control method |
| CN110001765A (en) * | 2019-02-02 | 2019-07-12 | 北京奥特尼克科技有限公司 | A kind of automobile-used steer by wire apparatus and control method with redundant unit |
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| CN112141204B (en) * | 2019-06-26 | 2022-06-03 | 顺丰科技有限公司 | Steering control method and device for vehicle, storage medium and controller |
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| CN110712677B (en) * | 2019-11-29 | 2024-02-27 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
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| WO2021120508A1 (en) * | 2019-12-18 | 2021-06-24 | 南京航空航天大学 | Dual-winding motor-based dual-motor wire-controlled steering system and control method thereof |
| CN110979450A (en) * | 2019-12-23 | 2020-04-10 | 广东工业大学 | Formula of driverless car steering mechanism that can freely switch |
| CN113442905A (en) * | 2020-03-26 | 2021-09-28 | 上海汽车集团股份有限公司 | Chassis unbalance fault monitoring method, steering control system and automobile |
| CN111605611A (en) * | 2020-05-25 | 2020-09-01 | 杭州世宝汽车方向机有限公司 | Electric intelligent linear servo tie rod vehicle steering method and system |
| CN112744288B (en) * | 2021-01-26 | 2022-08-26 | 上海工程技术大学 | Electric power steering system based on multi-disc type magnetorheological fluid clutch |
| CN112744288A (en) * | 2021-01-26 | 2021-05-04 | 上海工程技术大学 | Electric power steering system based on multi-disc type magnetorheological fluid clutch |
| CN112874628A (en) * | 2021-02-02 | 2021-06-01 | 南京经纬达汽车科技有限公司 | Wire-controlled redundant steering system with failure protection function and control method thereof |
| CN112793659A (en) * | 2021-03-05 | 2021-05-14 | 南京经纬达汽车科技有限公司 | Redundant steering system with dual purposes of autonomous steering and power assisting and control method thereof |
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| CN113320592A (en) * | 2021-06-11 | 2021-08-31 | 浙江国芯科技有限公司 | Remote control type AGV fork truck drive-by-wire steering device |
| CN114179605A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Motor redundancy multifunctional integrated wheel module and control method thereof |
| CN114179605B (en) * | 2021-12-29 | 2024-03-01 | 吉林大学 | Multifunctional integrated wheel module with motor redundancy and control method thereof |
| CN114275036A (en) * | 2022-01-06 | 2022-04-05 | 重庆交通职业学院 | Automatic lane-changing lateral control system and control method for intelligent vehicle |
| CN117022432A (en) * | 2023-09-05 | 2023-11-10 | 小米汽车科技有限公司 | Steering control method and device, storage medium and vehicle |
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