CN109850009A - A kind of automobile steer-by-wire system and its control method merging Visual identification technology - Google Patents

A kind of automobile steer-by-wire system and its control method merging Visual identification technology Download PDF

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Publication number
CN109850009A
CN109850009A CN201910136338.2A CN201910136338A CN109850009A CN 109850009 A CN109850009 A CN 109850009A CN 201910136338 A CN201910136338 A CN 201910136338A CN 109850009 A CN109850009 A CN 109850009A
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steering
motor
module
vehicle
course changing
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CN109850009B (en
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赵万忠
周小川
汪桉旭
栾众楷
王春燕
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a kind of automobile steer-by-wire systems and its control method for merging Visual identification technology, comprising: vision collecting module, vision processing module, turning path planning module, vehicle-state acquisition module, course changing control module, notice and alarm modules and steering execution module;By merging Visual identification technology, assist driver's judgement and cognitive disorders object and dangerous information, the limitation of the mechanical connection of conventional steering system is broken through by steering-by-wire executing agency, it provides for the amendment in the same direction of Driver Steering Attention and reversed urgent intervention, carry out the switching of multiple-working mode, it realizes being precisely controlled for steering-by-wire executing agency under different operating conditions, improves accuracy and the safety of Vehicular turn.

Description

A kind of automobile steer-by-wire system and its control method merging Visual identification technology
Technical field
The invention belongs to automobile steering system technical field, refer specifically to for a kind of automobile line traffic control for merging Visual identification technology Steering system and its control method.
Background technique
Intelligent driving is the direction of current development of automobile, and core is Intellisense, intelligent decision and precisely executes.It is existing Some perception means specifically include that camera, millimetre-wave radar, laser radar, infrared ray etc., and for executing agency, Steering-by-wire relieves the constraint of tradition machinery linking steering system completely, can freely change transmission ratio and turn to and repair Just, automobile crosswise joint has been liberated.But existing Visual identification technology is not yet directed to still in vehicle matching stage The design and control program of wire-controlled steering system, the research and development technology towards steering system mainly has on a small quantity: Chinese invention patent Shen It please number be CN201610041628.5, in title " a kind of power steering early warning system and its working method based on machine vision " It proposes to judge the excessively high precarious position of driver error, speed using machine vision, vehicle is helped by control steering assist motor Rotating to, Chinese invention patent application number is CN201710764130 .6, title " a kind of steering angle correcting method, electronics power-assisted It proposes to determine that automobile deviates the abnormal steering state of travel route according to image information in steering system and vehicle ", controls power-assisted The target torque that motor exports resists abnormal steering, avoids dangerous generation.Chinese invention patent application number is CN201610604746.2, title " a kind of automatic emergency steering system and its control method for vehicle " is middle to propose basis The outside vehicle environmental information of acquisition judges that vehicle front obstacle occurs and cooks up suitable evacuation turning path, and triggering executes Unit realizes the protection to vehicle driver.
In conclusion existing automotive vision identification technology mainly passes through judgement dangerous situation, executing agency is directly controlled It is modified, does not account for the kinetic characteristics and assist characteristic of steering system, the mechanical of steering system can not be broken through and connected It connects.Steering-by-wire is the key that intelligent driving automobile executing agency, therefore is based on wire-controlled steering system, merges visual identity skill Art, the wire-controlled steering system of exploitation fusion visual identity are of great significance for vehicle safety and the accurate amendment of steering.
Summary of the invention
Above-mentioned the deficiencies in the prior art are directed to, the purpose of the present invention is to provide a kind of vapour for merging Visual identification technology Vehicle wire-controlled steering system and its control method, the visual identity for steering situation select operating mode, carry out steering-by-wire and hold Row mechanism is precisely controlled, so as to overcome the problems existing in the prior art.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
The automobile steer-by-wire system of a kind of fusion Visual identification technology of the invention, comprising: vision collecting module, visual processes Module, turning path planning module, vehicle-state acquisition module, course changing control module, notice and alarm modules and steering are held Row module;
The vision collecting module include the first camera, second camera, third camera and image pick-up card, described first The front panel center of body structure is arranged in camera, after second camera and third camera are symmetrically arranged amongst body rear end Coaming plate two sides, camera is used to acquire the image information of real-time information of road surface and barrier before and after vehicle, and is transferred to image and adopts Truck;Described image acquires the shutter speed of card control camera, time for exposure, and the analog image information that camera is shot It is converted into digital image information data flow, is transferred to vision processing module;
The vision processing module includes video processing board-card, specific integrated circuit and vehicle communicating cell;Video processing board-card is used Real Time Compression processing is carried out in the digital image information data flow for obtaining image pick-up card transmission, and to data stream, is stored in specially With in integrated circuit;Specific integrated circuit carries out image recognition processing to above-mentioned data flow, detects road surface and barrier situation, and It is communicated by vehicle communicating cell and turning path planning module;
The vehicle-state acquisition module is used to obtain the parameter under vehicle real-time status, and parameter is passed to turning path rule Draw module and course changing control module;
The information that the turning path planning module is transmitted according to vehicle-state acquisition module and vision processing module carries out real-time Turning path planning, and the turning path information after planning is passed into course changing control module;
The course changing control module input connection vehicle-state acquisition module, turning path planning module and steering execute mould Block, output end connection notice and alarm modules and steering execution module, for exporting control motor turning operating mode signal;
The steering execution module executes motor turning movement according to course changing control module input signal;
The notice is connect with alarm modules with course changing control module, aobvious for voice broadcasting system steering intervention situation and video Show Obstacle Position and motor turning path, including sound broadcasting device, display device.
Further, the vehicle-state acquisition module includes: angular transducer, displacement sensor, torque sensor, vehicle Fast sensor, yaw-rate sensor and laser radar;The angular transducer is mounted below steering wheel and steering column Junction, for measuring the corner of driver's input direction disk;Displacement sensor is mounted on track rod, passes through measurement Track rod output displacement obtains front-wheel output corner;Torque sensor is mounted on steering column, is obtained driver and is obtained Feedback torque;Vehicle speed sensor is mounted on the output shaft of automobile gearbox, for measuring speed;Yaw-rate sensor It is mounted below automobile center console, for measuring the yaw velocity of vehicle;Laser radar is mounted on automobile front beam, is used In the three dimensional local information of measurement barrier.
Further, the steering execution module uses bi-motor steer by wire apparatus.
Further, the steering execution module includes: steering wheel, road feel assembly, first motor assembly, the second motor Assembly, track rod, steering trapezium, steered wheel;
Steering wheel connects road feel assembly, and the road feel assembly includes: steering shaft, steering column, torsion bar, road feel motor, third turn Fast sensor and worm and gear;The active force that driver is inputted by steering wheel acts on torsion bar by steering shaft;Road feel electricity Machine output end is connect by third speed probe with turbine and worm, and worm and gear is mounted on steering column;Road feel motor is defeated Feedback effect power out successively passes through worm and gear, steering column, is transferred to steering wheel;
The first motor assembly includes: first motor, the first nut, the first screw rod, the first speed probe;
Second motor assembly includes: the second motor, the second nut, the second screw rod, the second speed probe;
The first motor, the first speed probe, the first nut and the first screw rod are sequentially connected, and the first screw rod is fixedly mounted on On track rod;Second motor, the second speed probe, the second nut and the second screw rod are sequentially connected, the second screw rod It is fixedly mounted on track rod;The rotary motion of first motor and the output of the second motor respectively through the first, second nut and First, second screw rod is converted and is overlapped, and the displacement movement for track rod is exported;
Track rod both ends connect steered wheel by steering trapezium respectively, convert bogie car for the displacement of track rod The steering angle of wheel completes Vehicular turn movement.
A kind of control method of the automobile steer-by-wire system of fusion Visual identification technology of the invention is based on above-mentioned system System, comprises the following steps that
Step 1: turning path planning module receives the vehicle speed information and barrier of vehicle-state acquisition module transmission respectively Image information before and after the vehicle body that three dimensional local information, vision processing module obtain, and carry out obstacle recognition;Course changing control mould Block receives driver's steering wheel corner information of vehicle-state acquisition module transmission, and carries out the identification of driver intention;
Step 2: turning path planning module judges whether to be turned to according to driver intention and obstacle recognition information Intervene, if entering step 3 without carrying out steering intervention in normally travel state, otherwise entering step 4;
Step 3: the control of course changing control module turns to execution module, executes power steering operating mode, after the completion return step 1;
Step 4: turning path planning module plans turning path according to barrier state and driver intention;
Step 5: course changing control module judges whether to receive the steering direction of the steering wheel angle information of driver's input, if receiving Execution module is then turned to by the control of course changing control module, executes and turns to compensation work mode, after the completion return step 1, if not Receiving then enters step 6;
Step 6: the control of course changing control module turns to execution module, executes to turn to and forces Prevention Intervention mode, returns to step after the completion Rapid 1.
Further, specific step is as follows for the power steering operating mode:
Course changing control module calculates the steering angle of steered wheel using the steering wheel angle signal that driver inputs as preset value And under current vehicle speed needed for power steering size, and judge whether speed is greater than 30Km/h;If more than 30Km/h, course changing control Module output control first motor controls signal, and control first motor work exports required power steering, while calculating simulation Steering response is worth corresponding road feel motor torque, and control road feel motor exports corresponding feedback torque, by steering wheel to driving Member provides steering response;If speed is less than 30Km/h, export first motor and the second motor control signal, by first motor and Second motor while output torque, provide the power steering of superposition, and the feedback controlled under road feel motor output current vehicle speed turns Square provides driver's steering response.
Further, specific step is as follows for the steering compensation work mode:
The steering wheel angle signal that course changing control module is inputted using driver is calculated as actual value with turning path planning module Steering wheel angle is preset value, according to the error of actual value and predicted value, calculates the steered wheel corner size for needing to compensate;The The steering wheel angle that one motor is inputted according to driver power steering required under current vehicle speed, the second motor is according to required Corner size is compensated, corresponding corner compensation is exported, road feel motor exports corresponding feedback torque;Sound broadcasting device simultaneously Prompt driver's system is carrying out steering compensation.
Further, specific step is as follows for the steering pressure Prevention Intervention mode:
The instruction that execution module only receives course changing control module is turned to, the steering wheel that course changing control module ignores driver's input turns Angle signal;Course changing control module controls first motor and provides power-assisted according to speed size, controls the second motor according to turning path The amendment of steered wheel corner is provided, control road feel motor exports corresponding feedback torque;Sound broadcasting device prompt simultaneously drives Member's system is carrying out steering and forces to intervene, and display device shows Obstacle Position and motor turning road by camera picture Diameter.
Beneficial effects of the present invention:
System of the invention assists driver's judgement and cognitive disorders object and dangerous information, energy by fusion Visual identification technology The limitation for enough breaking through the mechanical connection of conventional steering system, provide for Driver Steering Attention amendment in the same direction and it is reversed promptly Intervene, improves steering system intelligent level.
Control method of the invention can carry out the switching of multiple-working mode in conjunction with steering-by-wire executing agency, thus Being precisely controlled for steering-by-wire executing agency under different operating conditions is completed, accuracy and the safety of Vehicular turn are improved.
Detailed description of the invention
Fig. 1 is the functional block diagram of present system;
Fig. 2 is that the present invention turns to execution module functional block diagram;
Fig. 3 is wire-controlled steering system control flow chart of the present invention;
Fig. 4 is the method for the present invention power steering operating mode flow chart;
Fig. 5 is that the method for the present invention turns to compensation work model process figure;
Fig. 6 is that the method for the present invention turns to pressure Prevention Intervention model process figure;
In figure: 1- steering wheel, 2- steering shaft, 3- steering column, 4- worm and gear, 5- torsion bar, 6- notice and alarm modules, 7- turn To control module, 8- vehicle-state acquisition module, 9- vision collecting module, 10- turning path planning module, 11- visual processes Module, the second motor of 12-, the second speed probe of 13-, the second nut of 14-, the second lead screw of 15-, 16- track rod, 17- First motor, the first speed probe of 18-, the first nut of 19-, the first lead screw of 20-, 21- steering trapezium, 22- steered wheel, 23- road feel motor, 24- third speed probe.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing Bright, the content that embodiment refers to not is limitation of the invention.
It is shown in reference picture 1, Fig. 2, a kind of automobile steer-by-wire system of fusion Visual identification technology of the invention, comprising: Vision collecting module 9, vision processing module 11, turning path planning module 10, vehicle-state acquisition module 8, course changing control mould Block 7, notice and alarm modules and steering execution module;
The vision collecting module include the first camera, second camera, third camera and image pick-up card, described first The front panel center of body structure is arranged in camera, after second camera and third camera are symmetrically arranged amongst body rear end Coaming plate two sides, camera is used to acquire the image information of real-time information of road surface and barrier before and after vehicle, and is transferred to image and adopts Truck;Described image acquires the shutter speed of card control camera, time for exposure, and the analog image information that camera is shot It is converted into digital image information data flow, is transferred to vision processing module;
The vision processing module includes video processing board-card, specific integrated circuit (ASIC) and vehicle communicating cell;At image Reason card carries out Real Time Compression processing for obtaining the digital image information data flow of image pick-up card transmission, and to data stream, deposits It is stored in specific integrated circuit;Specific integrated circuit carries out image recognition processing to above-mentioned data flow, detects road surface and barrier Situation, and communicated by vehicle communicating cell and turning path planning module;
The vehicle-state acquisition module 8 is used to obtain the parameter under vehicle real-time status, and parameter is passed to turning path Planning module 10 and course changing control module 7;Comprising: angular transducer, displacement sensor, torque sensor, vehicle speed sensor, Yaw-rate sensor and laser radar;The angular transducer is mounted on the junction below steering wheel with steering column, For measuring the corner of driver's input direction disk;Displacement sensor is mounted on track rod, turns to horizontal drawing by measurement Bar output displacement obtains front-wheel output corner;Torque sensor is mounted on steering column, is obtained the feedback that driver obtains and is turned Square, vehicle speed sensor are mounted on the output shaft of automobile gearbox, for measuring speed;Yaw-rate sensor is mounted on vapour Below vehicle console, for measuring the yaw velocity of vehicle;Laser radar is mounted on automobile front beam, for measuring barrier Hinder the three dimensional local information of object.
The letter that the turning path planning module 10 is transmitted according to vehicle-state acquisition module 8 and vision processing module 11 Breath, carries out real-time turning path planning, and planning path information is passed to course changing control module;
The course changing control module input connection vehicle-state acquisition module, turning path planning module and steering execute mould Block, output end connection notice and alarm modules and steering execution module, for controlling motor turning operating mode;
The steering execution module executes motor turning movement according to 7 input signal of course changing control module;Using bi-motor line traffic control Transfer;
The steering execution module includes: steering wheel 1, road feel assembly, first motor assembly, the second motor assembly, turns to cross Pull rod 16, steering trapezium 21, steered wheel 22;
Steering wheel 1 connect road feel assembly, the road feel assembly include: steering shaft 2, steering column 3, torsion bar 5, road feel motor 23, Third speed probe 24 and worm and gear 4;The active force that driver is inputted by steering wheel acts on torsion bar by steering shaft 2 On 5;23 output end of road feel motor is connect by third speed probe 24 with turbine and worm 4, and worm and gear 4 is mounted on steering tube On column 3;The feedback effect power that road feel motor 23 exports successively passes through worm and gear 4, steering column 3, is transferred to steering wheel 1;
The first motor assembly includes: first motor 17, the first nut 19, the first screw rod 20, the first speed probe 18;
Second motor assembly includes: the second motor 12, the second nut 14, the second screw rod 15, the second speed probe 13;
The first motor 17, the first speed probe 18, the first nut 19 and the first screw rod 20 are sequentially connected, the first screw rod 20 It is fixedly mounted on track rod 16;Second motor 12, the second speed probe 13, the second nut 14 and the second screw rod 15 are sequentially connected, and the second screw rod 15 is fixedly mounted on track rod 16;The rotation fortune of first motor and the output of the second motor It is dynamic to convert and be overlapped through the first, second nut and the first, second screw rod respectively, export the displacement fortune for track rod 16 It is dynamic;
16 both ends of track rod pass through steering trapezium 21 respectively and connect steered wheel 22, convert the displacement of track rod to The steering angle of steered wheel completes Vehicular turn movement.
The notice is connect with alarm modules with course changing control module, is used for voice broadcasting system steering intervention situation and view Frequency display Obstacle Position and motor turning path, including sound broadcasting device, display device.
Referring to shown in Fig. 3, a kind of control method of the automobile steer-by-wire system of fusion Visual identification technology of the invention, Based on above system, comprise the following steps that
Step 1: turning path planning module receives the vehicle speed information and barrier of vehicle-state acquisition module transmission respectively Image information before and after the vehicle body that three dimensional local information, vision processing module obtain, and carry out obstacle recognition;Course changing control mould Block receives driver's steering wheel corner information of vehicle-state acquisition module transmission, and carries out the identification of driver intention;
Step 2: turning path planning module judges whether to be turned to according to driver intention and obstacle recognition information Intervene, if entering step 3 without carrying out steering intervention in normally travel state, otherwise entering step 4;
Step 3: the control of course changing control module turns to execution module, executes power steering operating mode, after the completion return step 1;
Step 4: turning path planning module plans turning path according to barrier state and driver intention;
Step 5: course changing control module judges whether to receive the steering direction of the steering wheel angle information of driver's input, if receiving Execution module is then turned to by the control of course changing control module, executes and turns to compensation work mode, after the completion return step 1, if not Receiving then enters step 6;
Step 6: the control of course changing control module turns to execution module, executes to turn to and forces Prevention Intervention mode, returns to step after the completion Rapid 1.
Referring to shown in Fig. 4, specific step is as follows for the power steering operating mode:
Course changing control module calculates the steering angle of steered wheel using the steering wheel angle signal that driver inputs as preset value And under current vehicle speed needed for power steering size, and judge whether speed is greater than 30Km/h;If more than 30Km/h, course changing control Module output control first motor controls signal, and control first motor work exports required power steering, while calculating simulation Steering response is worth corresponding road feel motor torque, and control road feel motor exports corresponding feedback torque, by steering wheel to driving Member provides steering response;If speed is less than 30Km/h, export first motor and the second motor control signal, by first motor and Second motor while output torque, provide the power steering of superposition, and the feedback controlled under road feel motor output current vehicle speed turns Square provides driver's steering response.
Referring to Figure 5, specific step is as follows for the steering compensation work mode:
The steering wheel angle signal that course changing control module is inputted using driver is calculated as actual value with turning path planning module Steering wheel angle is preset value, according to the error of actual value and predicted value, calculates the steered wheel corner size for needing to compensate;The The steering wheel angle that one motor is inputted according to driver power steering required under current vehicle speed, the second motor is according to required Corner size is compensated, corresponding corner compensation is exported, road feel motor exports corresponding feedback torque;Sound broadcasting device simultaneously Prompt driver's system is carrying out steering compensation.
Referring to shown in Fig. 6, Prevention Intervention mode is forced in the steering, and specific step is as follows:
The instruction that execution module only receives course changing control module is turned to, the steering wheel that course changing control module ignores driver's input turns Angle signal;Course changing control module controls first motor and provides power-assisted according to speed size, controls the second motor according to turning path The amendment of steered wheel corner is provided, control road feel motor exports corresponding feedback torque;Sound broadcasting device prompt simultaneously drives Member's system is carrying out steering and forces to intervene, and display device shows Obstacle Position and motor turning road by camera picture Diameter.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this A little improve also should be regarded as protection scope of the present invention.

Claims (8)

1. a kind of automobile steer-by-wire system for merging Visual identification technology characterized by comprising vision collecting module, view Feel processing module, turning path planning module, vehicle-state acquisition module, course changing control module, notice and alarm modules and Turn to execution module;
The vision collecting module include the first camera, second camera, third camera and image pick-up card, described first The front panel center of body structure is arranged in camera, after second camera and third camera are symmetrically arranged amongst body rear end Coaming plate two sides, camera is used to acquire the image information of real-time information of road surface and barrier before and after vehicle, and is transferred to image and adopts Truck;Described image acquires the shutter speed of card control camera, time for exposure, and the analog image information that camera is shot It is converted into digital image information data flow, is transferred to vision processing module;
The vision processing module includes video processing board-card, specific integrated circuit and vehicle communicating cell;Video processing board-card is used Real Time Compression processing is carried out in the digital image information data flow for obtaining image pick-up card transmission, and to data stream, is stored in specially With in integrated circuit;Specific integrated circuit carries out image recognition processing to above-mentioned data flow, detects road surface and barrier situation, and It is communicated by vehicle communicating cell and turning path planning module;
The vehicle-state acquisition module is used to obtain the parameter under vehicle real-time status, and parameter is passed to turning path rule Draw module and course changing control module;
The information that the turning path planning module is transmitted according to vehicle-state acquisition module and vision processing module carries out real-time Turning path planning, and the turning path information after planning is passed into course changing control module;
The course changing control module input connection vehicle-state acquisition module, turning path planning module and steering execute mould Block, output end connection notice and alarm modules and steering execution module, for controlling motor turning operating mode;
The steering execution module executes motor turning movement according to course changing control module input signal;
The notice is connect with alarm modules with course changing control module, aobvious for voice broadcasting system steering intervention situation and video Show Obstacle Position and motor turning path, including sound broadcasting device, display device.
2. the automobile steer-by-wire system of fusion Visual identification technology according to claim 1, which is characterized in that the vehicle State acquisition module includes: angular transducer, displacement sensor, torque sensor, vehicle speed sensor, yaw velocity sensing Device and laser radar;The angular transducer is mounted on the junction below steering wheel with steering column, for measuring driver The corner of input direction disk;Displacement sensor is mounted on track rod, is obtained by measurement track rod output displacement Front-wheel output corner;Torque sensor is mounted on steering column, obtains the feedback torque that driver obtains;Vehicle speed sensor peace On the output shaft of automobile gearbox, for measuring speed;Yaw-rate sensor is mounted below automobile center console, is used In the yaw velocity of measurement vehicle;Laser radar is mounted on automobile front beam, for measuring the three-dimensional position of barrier Information.
3. the automobile steer-by-wire system of fusion Visual identification technology according to claim 1, which is characterized in that described turn Bi-motor steer by wire apparatus is used to execution module.
4. the automobile steer-by-wire system of fusion Visual identification technology according to claim 3, which is characterized in that described Turning to execution module includes: steering wheel, road feel assembly, first motor assembly, the second motor assembly, track rod, steering ladder Shape, steered wheel;
Steering wheel connects road feel assembly, and the road feel assembly includes: steering shaft, steering column, torsion bar, road feel motor, third turn Fast sensor and worm and gear;The active force that driver is inputted by steering wheel acts on torsion bar by steering shaft;Road feel electricity Machine output end is connect by third speed probe with turbine and worm, and worm and gear is mounted on steering column;Road feel motor is defeated Feedback effect power out successively passes through worm and gear, steering column, is transferred to steering wheel;
The first motor assembly includes: first motor, the first nut, the first screw rod, the first speed probe;
Second motor assembly includes: the second motor, the second nut, the second screw rod, the second speed probe;
The first motor, the first speed probe, the first nut and the first screw rod are sequentially connected, and the first screw rod is fixedly mounted on On track rod;Second motor, the second speed probe, the second nut and the second screw rod are sequentially connected, the second screw rod It is fixedly mounted on track rod;The rotary motion of first motor and the output of the second motor respectively through the first, second nut and First, second screw rod is converted and is overlapped, and the displacement movement for track rod is exported;
Track rod both ends connect steered wheel by steering trapezium respectively, convert bogie car for the displacement of track rod The steering angle of wheel completes Vehicular turn movement.
5. a kind of control method for the automobile steer-by-wire system for merging Visual identification technology, based in the claims 1 to 4 System described in any one, which is characterized in that comprise the following steps that
Step 1: turning path planning module receives the vehicle speed information and barrier of vehicle-state acquisition module transmission respectively Image information before and after the vehicle body that three dimensional local information, vision processing module obtain, and carry out obstacle recognition;Course changing control mould Block receives driver's steering wheel corner information of vehicle-state acquisition module transmission, and carries out the identification of driver intention;
Step 2: turning path planning module judges whether to be turned to according to driver intention and obstacle recognition information Intervene, if entering step 3 without carrying out steering intervention in normally travel state, otherwise entering step 4;
Step 3: the control of course changing control module turns to execution module, executes power steering operating mode, after the completion return step 1;
Step 4: turning path planning module plans turning path according to barrier state and driver intention;
Step 5: course changing control module judges whether to receive the steering direction of the steering wheel angle information of driver's input, if receiving Execution module is then turned to by the control of course changing control module, executes and turns to compensation work mode, after the completion return step 1, if not Receiving then enters step 6;
Step 6: the control of course changing control module turns to execution module, executes to turn to and forces Prevention Intervention mode, returns to step after the completion Rapid 1.
6. the control method of the automobile steer-by-wire system of fusion Visual identification technology according to claim 5, feature It is, specific step is as follows for the power steering operating mode:
Course changing control module calculates the steering angle of steered wheel using the steering wheel angle signal that driver inputs as preset value And under current vehicle speed needed for power steering size, and judge whether speed is greater than 30Km/h;If more than 30Km/h, course changing control Module output control first motor controls signal, and control first motor work exports required power steering, while calculating simulation Steering response is worth corresponding road feel motor torque, and control road feel motor exports corresponding feedback torque, by steering wheel to driving Member provides steering response;If speed is less than 30Km/h, export first motor and the second motor control signal, by first motor and Second motor while output torque, provide the power steering of superposition, and the feedback controlled under road feel motor output current vehicle speed turns Square provides driver's steering response.
7. the control method of the automobile steer-by-wire system of fusion Visual identification technology according to claim 5, feature It is, specific step is as follows for the steering compensation work mode:
The steering wheel angle signal that course changing control module is inputted using driver is calculated as actual value with turning path planning module Steering wheel angle is preset value, according to the error of actual value and predicted value, calculates the steered wheel corner size for needing to compensate;The The steering wheel angle that one motor is inputted according to driver power steering required under current vehicle speed, the second motor is according to required Corner size is compensated, corresponding corner compensation is exported, road feel motor exports corresponding feedback torque;Sound broadcasting device simultaneously Prompt driver's system is carrying out steering compensation.
8. the control method of the automobile steer-by-wire system of fusion Visual identification technology according to claim 5, feature It is, Prevention Intervention mode is forced in the steering, and specific step is as follows:
The instruction that execution module only receives course changing control module is turned to, the steering wheel that course changing control module ignores driver's input turns Angle signal;Course changing control module controls first motor and provides power-assisted according to speed size, controls the second motor according to turning path The amendment of steered wheel corner is provided, control road feel motor exports corresponding feedback torque;Sound broadcasting device prompt simultaneously drives Member's system is carrying out steering and forces to intervene, and display device shows Obstacle Position and motor turning road by camera picture Diameter.
CN201910136338.2A 2019-02-25 2019-02-25 Automobile steer-by-wire system integrating visual identification technology and control method thereof Active CN109850009B (en)

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CN110329248A (en) * 2019-06-18 2019-10-15 南京航空航天大学 A kind of the line traffic control intelligent steering system and its urgent barrier-avoiding method of brain-machine interaction
CN111559423A (en) * 2020-04-16 2020-08-21 南京金龙新能源汽车研究院有限公司 Wire-controlled steering system and control strategy thereof
CN111976726A (en) * 2020-08-26 2020-11-24 中南大学 Steering auxiliary system of intelligent rail vehicle and control method thereof
CN113581278A (en) * 2021-07-20 2021-11-02 浙江万安科技股份有限公司 Multi-mode wire control chassis system and control method thereof
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