CN110228520A - Steering system and its control method and vehicle including it - Google Patents
Steering system and its control method and vehicle including it Download PDFInfo
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- CN110228520A CN110228520A CN201810673128.2A CN201810673128A CN110228520A CN 110228520 A CN110228520 A CN 110228520A CN 201810673128 A CN201810673128 A CN 201810673128A CN 110228520 A CN110228520 A CN 110228520A
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- Prior art keywords
- steering
- regulating mechanism
- deflecting roller
- rack gear
- turns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—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 monitoring the steering system, e.g. failures
Abstract
The present invention relates to a kind of steering system and its control method and including its vehicle, the steering system includes the first steering regulating mechanism, the second steering regulating mechanism and coupling mechanism, wherein, the first steering regulating mechanism is connect with coupling mechanism and the first deflecting roller respectively；Second steering regulating mechanism is connect with coupling mechanism and the second deflecting roller respectively；When coupling mechanism is used to turn to regulating mechanism first and the second steering regulating mechanism is normal, isolation first turns to regulating mechanism and second and turns to regulating mechanism, the first steering regulating mechanism is set independently to adjust the first deflecting roller, the second steering regulating mechanism independently adjusts the second deflecting roller；And wherein a steering regulating mechanism failure when, connection first turns to regulating mechanism and described second and turns to regulating mechanism, by normally turning to regulating mechanism adjustment the first deflecting roller and the second deflecting roller simultaneously.The present invention can guarantee the safety and reliability of steering system under the situation of system mechanics failure and/or electronic device failure.
Description
Technical field
The present invention relates to technical field of vehicle more particularly to a kind of steering system and its control method and including its vehicle
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Background technique
Motor turning performance directly affects the control stability of automobile, and then influences the comfort and peace of driver and passenger
Quan Xing, it is in the safe driving for ensuring vehicle, the work for reducing traffic accident and protecting driver's personal safety, improving driver
Make condition etc. to play an important role.After the development that experienced how each stage, wire-controlled steering system obtains automobile steering system
To being widely applied, due between the steering wheel and deflecting roller of wire-controlled steering system without mechanical connection, it is necessary to have and avoid
Steering capability is lost when breaking down, therefore, safety and fault-toleranr technique to wire-controlled steering system propose very high requirement.
In the prior art, by provide electronic apparatus part Redundancy Design, i.e., when in electronic drive unit motor or
When electronic control unit failure, it can realize that the redundancy of wire-controlled steering system is set by spare motor or electronic control unit
Meter.But there is no the mechanical component failures for steering system to carry out Redundancy Design in the prior art, therefore, when existing
For wire-controlled steering system in mechanical component failures, there are still very big risks.In addition, the exploitation and utilization of automatic Pilot at this stage
Demand, especially for the automatic Pilot of L3 rank, after main system failure, it is desirable that back-up system continues to keep former function work
The requirement of work, steering system Redundancy Design in the prior art are also unable to satisfy the demand.It follows that how to realize no matter
Be mechanical breakdown or electronic device failure situation under, can guarantee the safety and reliability of steering system, become urgently
The technical issues of solution.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of steering system and its control method and the vehicle including it
, either under the situation of mechanical breakdown or electronic device failure, it can guarantee the safety and reliability of steering system.
In order to solve the above-mentioned technical problem, according to a first aspect of the embodiments of the present invention, a kind of steering system is provided, is wrapped
It includes:
First turns to regulating mechanism, the second steering regulating mechanism and coupling mechanism, wherein
The first steering regulating mechanism is connected with the coupling mechanism and the first deflecting roller respectively；Described second turns to
Regulating mechanism is connected with the coupling mechanism and the second deflecting roller respectively,
Described first turns to regulating mechanism for the first deflecting roller of adjustment, or adjusts the first deflecting roller and second simultaneously and turn to
Wheel；
Described second turns to regulating mechanism for the second deflecting roller of adjustment, or adjusts the second deflecting roller and first simultaneously and turn to
Wheel；
When the coupling mechanism is used to turn to regulating mechanism described first and the second steering regulating mechanism is normal,
It is isolated described first and turns to regulating mechanism and the second steering regulating mechanism, adjusts the first steering regulating mechanism independently
First deflecting roller, the second steering regulating mechanism independently adjust the second deflecting roller；An and steering regulating mechanism failure wherein
When, it connects described first and turns to regulating mechanism and the second steering regulating mechanism, by normally turning to regulating mechanism while adjusting
Whole first deflecting roller and the second deflecting roller.
Further, the steering system further includes steering mechanism, is separately connected described first and turns to regulating mechanism and institute
The second steering regulating mechanism is stated, turns to regulating mechanism to described first for obtaining turn around parameters, and according to the turn around parameters
Regulating mechanism output, which is turned to, with second turns to adjustment parameter.
Further, the steering mechanism includes steering column and road feel ultramagnifier, the steering column and the road feel
Ultramagnifier is connected, and the road feel ultramagnifier turns to regulating mechanism and described second with described first respectively and turns to regulating mechanism phase
Connection, wherein
The steering column is used to obtain turn around parameters according to the received steering operation of institute, and the turn around parameters are sent
To the road feel ultramagnifier；
The road feel ultramagnifier is used to calculate steering adjustment parameter according to the turn around parameters, and the steering is adjusted
Parameter is sent to described first and turns to regulating mechanism and the second steering regulating mechanism.
Further, the turn around parameters include steering wheel angle and wheel steering torque, the steering adjustment parameter
Regulating mechanism and second, which is turned to, including first turns to the mobile location information of regulating mechanism.
Further, it is described first turn to regulating mechanism include the first driving mechanism and the first executing agency, described first
Driving mechanism is connected with the steering mechanism and first executing agency respectively, first executing agency and described first
Deflecting roller is connected, and first driving mechanism is used to turn to adjustment parameter from steering mechanism acquisition is described, and according to institute
It states steering adjustment parameter and calculates steering execution parameter, and be sent to first executing agency, first executing agency root
The first steered wheel rotation of parameter output driving power drive is executed according to the steering, or the first deflecting roller and second is driven to turn to simultaneously
Wheel rotation；
Described second, which turns to regulating mechanism, includes the second driving mechanism and the second executing agency, second driving mechanism point
It is not connected with the steering mechanism and second executing agency, second executing agency is connected with second deflecting roller
It connects, second driving mechanism is used to turn to adjustment parameter from steering mechanism acquisition is described, and is adjusted according to the steering
Parameter calculates steering and executes parameter, and is sent to second executing agency, and second executing agency is according to the steering
The second steered wheel rotation of parameter output driving power drive is executed, or the second steered wheel rotation and first is driven to turn to rotation simultaneously
It is dynamic.
Further, first executing agency include the first speed reducer and be connected with first speed reducer first
Rack gear, first speed reducer are connected with first driving mechanism, the first deflecting roller phase described in first rack gear one end
Connection, the other end are connected with the coupling mechanism；
Second executing agency includes the second speed reducer and the second rack gear for being connected with second speed reducer, described
Second speed reducer is connected with second driving mechanism, and second rack gear one end is connected with second deflecting roller, separately
One end is connected with the coupling mechanism；
Wherein, the steering that first speed reducer is used to receive first driving mechanism output executes parameter, and described turn
It include driving torque to parameter is executed, the driving torque is passed to first rack gear by first speed reducer, is made described
First rack gear output driving power, or the first rack gear and the second rack gear are passed to simultaneously, make first rack gear and the second rack gear
Equal output driving power；
The steering that second speed reducer is used to receive the second driving mechanism output executes parameter, and described second slows down
The driving torque is passed to second rack gear by machine, makes the first rack gear output driving power, or passes to simultaneously
Two rack gears and the first rack gear make second rack gear and the equal output driving power of the first rack gear.
Further, first driving mechanism is also connected with the coupling mechanism, for described in real-time detection first
Whether deflecting roller is in failure state, if so, to coupling mechanism transmission disablement signal, described in the coupling mechanism reception
First rack gear and the second rack gear are connected after disablement signal；
Second driving mechanism is also connected with the coupling mechanism, whether is used for the second deflecting roller described in real-time detection
In failure state, if so, disablement signal is sent to the coupling mechanism, after the coupling mechanism receives the disablement signal
Connect first rack gear and the second rack gear.
According to a second aspect of the embodiments of the present invention, a kind of control method of steering system is provided, comprising the following steps:
Whether the first steering regulating mechanism of detection and the second steering regulating mechanism work normally；
If so, coupling mechanism isolation described first, which turns to regulating mechanism and described second, turns to regulating mechanism, institute is controlled
It states the first steering regulating mechanism and independently adjusts the first deflecting roller, the second steering regulating mechanism independently adjusts the second deflecting roller；
If one of turn to regulating mechanism failure, the coupling mechanism connection described first turns to regulating mechanism and institute
The second steering regulating mechanism is stated, the current normal regulating mechanism that turns to is controlled and adjusts the first deflecting roller and the second deflecting roller simultaneously.
Further, the method also includes:
Turn around parameters are obtained by steering mechanism, and turn to regulating mechanism and the to described first according to the turn around parameters
Two, which turn to regulating mechanism output, turns to adjustment parameter.
Further, the turn around parameters include steering wheel angle and wheel steering torque, the steering adjustment parameter
Regulating mechanism and second, which is turned to, including first turns to the mobile location information of regulating mechanism.
Further, it is described first turn to regulating mechanism include the first driving mechanism and the first executing agency, described second
Turning to regulating mechanism includes the second driving mechanism and the second executing agency；
It is described first steering regulating mechanism independently adjust the first deflecting roller the following steps are included:
First driving mechanism turns to adjustment parameter from steering mechanism acquisition is described, and according to the steering adjustment parameter
It calculates steering and executes parameter, be sent to first executing agency；
First executing agency executes the first steered wheel rotation of parameter output driving power drive according to the steering；
It is described second steering regulating mechanism independently adjust the second deflecting roller the following steps are included:
Second driving mechanism turns to adjustment parameter from steering mechanism acquisition is described, and is adjusted according to the steering
Parameter calculates steering and executes parameter, is sent to second executing agency；
Second executing agency executes the second steered wheel rotation of parameter output driving power drive according to the steering.
Further, first executing agency includes the first speed reducer and the first rack gear, the second executing agency packet
The second speed reducer and the second rack gear are included,
First executing agency executes the first steered wheel rotation of parameter output driving power drive according to the steering, including
Following steps:
The steering that first speed reducer receives the first driving mechanism output executes parameter, and the steering executes parameter
Including driving torque；
The driving torque is passed to first rack gear by first speed reducer, makes the first rack gear output driving
Power drives the first steered wheel rotation；
Second executing agency executes the second steered wheel rotation of parameter output driving power drive according to the steering, including
Following steps:
The steering that second speed reducer receives the second driving mechanism output executes parameter；
The driving torque is passed to second rack gear by second speed reducer, makes the second rack gear output driving
Power drives the second steered wheel rotation.
Further, if it is described one of when turning to regulating mechanism failure, the coupling mechanism connection described first
It turns to regulating mechanism and the second steering regulating mechanism includes:
Whether the first deflecting roller described in the first driving mechanism real-time detection is in failure state, if so, to described
Coupling mechanism sends disablement signal；
Whether the second deflecting roller described in the second driving mechanism real-time detection is in failure state, if so, to described
Coupling mechanism sends disablement signal；
The coupling mechanism connects first rack gear and the second rack gear after receiving the disablement signal.
Further, the current normal steering regulating mechanism of the control adjusts the first deflecting roller and second simultaneously and turns to
Wheel, comprising the following steps:
The steering that the current normal speed reducer for turning to regulating mechanism of control receives corresponding driving mechanism output executes ginseng
Number；
The driving torque is passed while being passed to the first rack gear and the second rack gear by the speed reducer, make first rack gear and
The equal output driving power of second rack gear drives the first deflecting roller and the second steered wheel rotation.
According to a third aspect of the embodiments of the present invention, a kind of vehicle, including above-mentioned steering system are provided.
According to a fourth aspect of the embodiments of the present invention, a kind of controller is provided comprising memory and processor, it is described to deposit
The step of reservoir is stored with computer program, and described program can be realized the method when being executed by the processor.
According to a fifth aspect of the embodiments of the present invention, a kind of computer readable storage medium is provided, for storing computer
The step of instruction, described instruction realizes the method when by a computer or processor execution.
The present invention has obvious advantages and beneficial effects compared with the existing technology.By above-mentioned technical proposal, the present invention
It a kind of steering system and its control method and can reach comparable technical progress and practicability including its vehicle, and have and produce
Extensive utility value in industry, at least has the advantage that
(1) present invention greatly reduces the wind of thrashing by the Redundancy Design to electronic device and mechanical structure
Danger, conforms better to requirement of the linear steering system to Redundancy Design.
(2) under the situation of the invention that can be realized either mechanical breakdown or electronic device failure, it can guarantee steering
The safety and reliability of system.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 provides steering system and schematic diagram for first embodiment of the invention；
Fig. 2 is the steering system schematic diagram that second embodiment of the invention provides；
Fig. 3 is that the steering system that one embodiment of the invention provides is applied to wire-controlled steering system schematic diagram；
Fig. 4 provides steering system control method schematic diagram for the embodiment of the present invention.
[symbol description]
Turn to regulating mechanism 2: the second at 1: the first turns to regulating mechanism
3: 4: the first deflecting roller of coupling mechanism
5: the second deflecting rollers 6: steering mechanism
61: steering column 62: road feel ultramagnifier
11: the first driving mechanism, 12: the first executing agency
21: the second driving mechanism, 22: the second executing agency
121: the first speed reducer, 122: the first rack gear
221: the second speed reducer, 222: the second rack gear
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to the tool of a kind of steering system proposed according to the present invention and its control method and the vehicle including it
Body embodiment and its effect, detailed description is as follows.
The embodiment of the present invention provides a kind of steering system, as shown in Figure 1, comprising: first turns to regulating mechanism 1, the
Two turn to regulating mechanisms 2 and coupling mechanism 3, wherein first turn to regulating mechanism 1 respectively with coupling mechanism 3 and the first deflecting roller 4
It is connected；Second steering regulating mechanism 2 is connected with coupling mechanism 3 and the second deflecting roller 5 respectively, and first turns to regulating mechanism 1
For the first deflecting roller 4 of adjustment, or the first deflecting roller 4 and the second deflecting roller 5 are adjusted simultaneously；Second steering regulating mechanism 2 is used for
The second deflecting roller 5 is adjusted, or adjusts the second deflecting roller 5 and the first deflecting roller 4 simultaneously；Coupling mechanism 3 is used to turn to first and adjust
When saving mechanism 1 and normal the second steering regulating mechanism 2, isolation first turns to regulating mechanism 1 and described second and turns to adjusting machine
Structure 2 makes independently the first deflecting roller 4 of adjustment of the first steering regulating mechanism 1, and second, which turns to the independent adjustment second of regulating mechanism 2, turns to
Wheel 5.
It should be noted that " isolation " guarantees that first turns between regulating mechanism 1 and the second steering regulating mechanism 2
It does not interact, independently controls corresponding deflecting roller.Wherein when a steering regulating mechanism failure, coupling mechanism 3
Connection first turns to regulating mechanism 1 and second and turns to regulating mechanism 2, by normally turning to regulating mechanism while the first steering of adjustment
Wheel 4 and second deflecting roller 5, it is to be understood that it is one of turn to regulating mechanism failure include first turn to regulating mechanism 1 therefore
Barrier, second turns to that regulating mechanism 2 is normal and first turns to regulating mechanism 1 normally and second turns to two kinds of 2 failure of regulating mechanism
Situation.When first turns to 1 failure of regulating mechanism, when the second steering regulating mechanism 2 is normal, first, which turns to 1 failure of regulating mechanism, is lost
Effect, at this point, turning to 2 co- controlling the first deflecting roller 4 of regulating mechanism and the second deflecting roller 5 by second.Similarly, when first turns to tune
When saving normal mechanism 1 and the second steering 2 failure of regulating mechanism, second, which turns to regulating mechanism 2, fails, at this point, being adjusted by the first steering
Save 1 co- controlling the first deflecting roller 4 of mechanism and the second deflecting roller 5.Turning to regulating mechanism failure includes turning in regulating mechanism
Electronic device failure and/or mechanical component failures, such as driving unit (the first driving mechanism 11 and second in example as follows
Driving mechanism 21, wherein may include the electronic devices such as electronic control unit and electronic drive unit) failure, retarder is (under such as
First speed reducer 121 and the second speed reducer 221 described in literary example) failures such as belt failure or the failure of tooth hub.It follows that
The embodiment of the present invention can be realized under the situation of either mechanical breakdown or electronic device failure, can guarantee steering system
Safety and reliability.
Steering system as shown in Figure 2 further includes steering mechanism 6, is separately connected the first steering regulating mechanism 1 and second turn
To regulating mechanism 2, for obtaining turn around parameters, and regulating mechanism 1 and second is turned to first according to turn around parameters and turns to adjusting
The output of mechanism 2 turns to adjustment parameter, and the first steering regulating mechanism 1 and second turn to regulating mechanism 2 and adjusted according to the received steering of institute
Parameter is saved to adjust the first deflecting roller 4 and the second deflecting roller 5, adjustment parameter is turned to according to first and turns to regulating mechanism 1 and second
The specific structure of regulating mechanism 2 is turned to set, such as can be displacement information, torque information etc..Steering mechanism 6 includes turning to
Tubing string 61 and road feel ultramagnifier 62, steering column 61 are connected with road feel ultramagnifier 62, road feel ultramagnifier 62 respectively with first turn
It is connected to regulating mechanism 1 with the second steering regulating mechanism 2, wherein driver carries out driver behavior by steering column 61, turns
It is used to obtain turn around parameters according to the received steering operation of institute to tubing string 61, and turn around parameters is sent to road feel ultramagnifier 62；
Road feel ultramagnifier 62 is used to calculate steering adjustment parameter according to turn around parameters, and is sent to the first steering for adjustment parameter is turned to
Regulating mechanism 1 and second turns to regulating mechanism 2.As an example, turn around parameters include steering wheel angle and wheel steering
Torque turns to the mobile location information that adjustment parameter includes the first steering regulating mechanism 1 and the second steering regulating mechanism 2, but can
Being that parameter is specifically set with understanding is not limited in above-mentioned example, and in practical application, related parameter can be turned to according to first
The factors such as the structure of regulating mechanism 1 and the second steering regulating mechanism 2 are specifically set.
With continued reference to example shown in Fig. 2, first, which turns to regulating mechanism 1, includes the first driving mechanism 11 and the first executing agency
12, the first driving mechanism 11 is connected with steering mechanism 6 and the first executing agency 12 respectively, the first executing agency 12 and first turn
It is connected to wheel 4, the first driving mechanism 11, which is used to obtain from steering mechanism 6, turns to adjustment parameter, and according to steering adjustment parameter
It calculates steering and executes parameter, and be sent to the first executing agency 12, the first executing agency 12 exports according to execution parameter is turned to
The first deflecting roller of drive force 4 rotates, or the first deflecting roller 4 and the second deflecting roller 5 is driven to rotate simultaneously.Second turns to adjusting
Mechanism 2 includes the second driving mechanism 21 and the second executing agency 22, and the second driving mechanism 21 is held with steering mechanism 6 and second respectively
Row mechanism 22 is connected, and the second executing agency 22 is connected with the second deflecting roller 5, and the second driving mechanism 21 is used for from steering mechanism
6 obtain steering adjustment parameter, and calculate steering execution parameter according to adjustment parameter is turned to, and be sent to the second executing agency
22, the second executing agency 22 rotates according to execution the second deflecting roller of parameter output driving power drive 5 is turned to, or drives second simultaneously
The rotation of deflecting roller 5 and the rotation of the first deflecting roller 4.It is understood that when the first steering regulating mechanism 1 and second turns to adjusting machine
When structure 2 works normally, the first executing agency 12 rotates according to execution the first deflecting roller of parameter output driving power drive 4 is turned to,
Second executing agency 22 rotates according to execution the second deflecting roller of parameter output driving power drive 5 is turned to.When the first steering adjusting machine
When 1 failure of structure, the first executing agency 12 drives the first deflecting roller 4 and second turn according to execution parameter output driving power is turned to simultaneously
It is rotated to wheel 5.When second turns to 2 failure of regulating mechanism, the second executing agency 22 executes parameter output driving power according to steering
The rotation of the second deflecting roller 5 and the rotation of the first deflecting roller 4 are driven simultaneously.
What Fig. 3 showed steering system described in the embodiment of the present invention is applied to one of wire-controlled steering system example, turns to
Mechanism 6 is connect with the first steering regulating mechanism 1 and the second steering regulating mechanism 2 using line traffic control form.First executing agency 12 packet
The first rack gear 122 for including the first speed reducer 121 and being connected with the first speed reducer 121, the first speed reducer 121 and the first driving machine
Structure 11 is connected, 122 one end of the first rack gear and the first deflecting roller 4 (the first deflecting roller 4 and the second deflecting roller 5 are not shown in Fig. 3)
It is connected, the other end is connected with coupling mechanism 3；Second executing agency 22 include the second speed reducer 221 and with the second speed reducer
221 the second rack gears 222 being connected, the second speed reducer 221 are connected with the second driving mechanism 21,222 one end of the second rack gear with
Second deflecting roller 5 is connected, and the other end is connected with coupling mechanism 3, and coupling mechanism 3 is realized to the first rack gear 122 and the second tooth
The radial support of item 222.Wherein, the steering that the first speed reducer 121 is used to receive the output of the first driving mechanism 11 executes parameter, figure
In example shown in 3, it includes driving torque that the steering, which executes parameter, and driving torque is passed to the first tooth by the first speed reducer 121
Item 122 makes 122 output driving power of the first rack gear, or passes to the first rack gear 122 and the second rack gear 222 simultaneously, makes the first tooth
Item 122 and the equal output driving power of the second rack gear 222.Second speed reducer 221 is used to receive the steering of the second driving mechanism 21 output
Parameter is executed, the driving torque is passed to the second rack gear 222, makes 122 output driving of the first rack gear by the second speed reducer 221
Power, or the second rack gear 222 and the first rack gear 122 are passed to simultaneously, so that the second rack gear 222 and the first rack gear 122 is exported drive
Power, in example shown in Fig. 3, the driving force is rack force.
As an example, the first driving mechanism 11 is also connected with coupling mechanism 3, for first turn described in real-time detection
Whether it is in failure state to wheel 4, if so, disablement signal is sent to coupling mechanism 3, after coupling mechanism 3 receives disablement signal
Connect first rack gear 122 and the second rack gear 222；Second driving mechanism 21 is also connected with coupling mechanism 3, for examining in real time
The second deflecting roller 5 is surveyed whether in failure state, if so, sending disablement signal to coupling mechanism 3, coupling mechanism 3, which receives, to be lost
The first rack gear 122 and the second rack gear 222 are connected after effect signal.It is understood that when first turns to 1 failure of regulating mechanism,
First driving mechanism 11 can be detected the first deflecting roller 4 and be in failure state, when second turns to 2 failure of regulating mechanism, second
Driving mechanism 21 can be detected the second deflecting roller 5 and be in failure state.In addition, the first driving mechanism 11 and the second driving mechanism 21
Also the driving force that the first rack gear 122 and the second rack gear 222 export can be fed back to road feel ultramagnifier 62, road feel ultramagnifier 62 can root
According to the driving force feedback information of road surface that the first rack gear 122 and the second rack gear 222 export, road surface letter is provided for driver or passenger
Breath promotes user experience.
It follows that when steering system works normally, the first rack gear 122 and the second rack gear 222 are without rigid connection, by the
Two driving mechanisms 11 and the second driving mechanism 21, which respectively drive the first rack gear 122 and the second rack gear 222 output rack force, makes first
Deflecting roller 4 and the second deflecting roller 5 turn to；When a steering regulating mechanism in steering system fails, coupling mechanism 3 is controlled
The first rack gear 122 and the coupling of the second rack gear 222 are made, that is, realizes rigid connection, at this point, being provided by the driving mechanism of one end of not failing
Corresponding rack force drives the first deflecting roller 4 and the second deflecting roller 5 to turn to, to guarantee that a steering in steering system is adjusted
Section mechanism when fail steering system still keeps complete turning function, improve the safety of steering system with reliably
Property, the crash rate for losing power-assisted of steering system is greatly reduced, further, since the exploitation and fortune of automatic Pilot at this stage
With especially for the automatic Pilot of L3 rank, after main system failure, it is desirable that back-up system continues to keep former function operation
Requirement, the scheme of the embodiment of the present invention compares the demand that current product can more meet the automatic Pilot of L3 rank.
Based on steering system described in the embodiment of the present invention, the embodiment of the invention also provides a kind of controls of steering system
Method, as shown in Figure 4, comprising the following steps:
Step S1, whether the first steering regulating mechanism 1 of detection and the second steering regulating mechanism 2 work normally；
Step S2, if so, coupling mechanism 3, which is isolated described first, turns to regulating mechanism 1 and the second steering adjusting machine
Structure 2 controls described first and turns to the first deflecting roller 4 of independent adjustment of regulating mechanism 1, and second turns to the independent adjustment of regulating mechanism 2 the
Two deflecting rollers 5；
It should be noted that " isolation " guarantees that first turns between regulating mechanism 1 and the second steering regulating mechanism 2
It does not interact, independently controls corresponding deflecting roller.
If step S3, one of turn to regulating mechanism failure, the connection of coupling mechanism 3 first turns to 1 He of regulating mechanism
Second turns to regulating mechanism 2, controls the current normal regulating mechanism that turns to and adjusts the first deflecting roller 4 and the second deflecting roller 5 simultaneously.
In step S3, described one of regulating mechanism failure that turns to includes first turning to 1 failure of regulating mechanism, and second turn
It is normal to regulating mechanism 2 and first turns to regulating mechanism 1 normally and second turns to 2 failure of regulating mechanism, two kinds of situations.When
One turns to 1 failure of regulating mechanism, and when the second steering regulating mechanism 2 is normal, first turns to 1 malfunction and failure of regulating mechanism, at this point, by
Second turns to 2 co- controlling the first deflecting roller 4 of regulating mechanism and the second deflecting roller 5.Similarly, when first is turning to regulating mechanism 1 just
When often and second turns to 2 failure of regulating mechanism, second, which turns to regulating mechanism 2, fails, at this point, being total to by the first steering regulating mechanism 1
With the first deflecting roller 4 of control and the second deflecting roller 5.Turning to regulating mechanism failure includes the electronic device event turned in regulating mechanism
Barrier and/or mechanical component failures.It follows that the embodiment of the present invention can be realized either mechanical breakdown or electronic device event
Under the situation of barrier, the safety and reliability of steering system can guarantee.
As an example, the method also includes step S4, by steering mechanism 6 obtain turn around parameters, and according to turn
Regulating mechanism 1 and second, which is turned to, to first to parameter turns to the output steering adjustment parameter of regulating mechanism 2.Wherein, the steering ginseng
Number may include steering wheel angle and wheel steering torque etc., and the steering adjustment parameter may include the first steering regulating mechanism 1
The mobile location information etc. for turning to regulating mechanism 2 with second.
Based on steering system shown in Fig. 2, first, which turns to regulating mechanism 1, executes machine including the first driving mechanism 11 and first
Structure 12, second, which turns to regulating mechanism 2, includes the second driving mechanism 21 and the second executing agency 22.
Wherein, first turn to the first deflecting roller 4 of independent adjustment of regulating mechanism 1 the following steps are included:
Step S11, the first driving mechanism 11 obtains from steering mechanism 6 and turns to adjustment parameter, and according to steering adjustment parameter
It calculates steering and executes parameter, be sent to the first executing agency 12；
Step S12, the first executing agency 12 rotates according to execution the first deflecting roller of parameter output driving power drive 4 is turned to.
Wherein, second turn to the second deflecting roller 5 of independent adjustment of regulating mechanism 2 the following steps are included:
Step S21, the second driving mechanism 21 obtains from steering mechanism 6 and turns to adjustment parameter, and according to steering adjustment parameter
It calculates steering and executes parameter, be sent to the second executing agency 22；
Step S22, the second executing agency 22 rotates according to execution the second deflecting roller of parameter output driving power drive 5 is turned to.
Based on steering system shown in Fig. 3, the first executing agency 12 includes the first speed reducer 121 and the first rack gear 122, the
Two executing agencies 22 include the second speed reducer 221 and the second rack gear 222, and in this example, driving force is rack force.
Wherein, step S12 the following steps are included:
Step S121, the steering that the first speed reducer 121 receives the output of the first driving mechanism 11 executes parameter, and the steering is held
Row parameter includes driving torque；
Step S122, driving torque is passed to the first rack gear 122 by the first speed reducer 121, drives the output of the first rack gear 122
Power, driving the first deflecting roller 4 rotation.
Wherein, step S22 the following steps are included:
Step S221, the steering that the second speed reducer 221 receives the output of the second driving mechanism 21 executes parameter；
Step S222, the driving torque is passed to the second rack gear 222 by the second speed reducer 221, keeps the second rack gear 222 defeated
Driving force out, driving the second deflecting roller 5 rotation.
With continued reference to steering system shown in Fig. 3, if when one of steering regulating mechanism failure, the coupling
Mechanism 3 connect it is described first turn to regulating mechanism 1 and it is described second turn to regulating mechanism 2 the following steps are included:
Step S31, whether 11 the first deflecting roller of real-time detection 4 of the first driving mechanism is in failure state, if so, to coupling
It closes mechanism 3 and sends disablement signal；
Whether the second deflecting roller 5 described in 21 real-time detection of the second driving mechanism is in failure state, if so, to coupling machine
Structure 3 sends disablement signal；
Step S32, the described coupling mechanism 3 connects the first rack gear 122 and the second rack gear 222 after receiving the disablement signal.
It is understood that the first driving mechanism 11 can be detected first and turn to when first turns to 1 failure of regulating mechanism
Wheel 4 is in failure state, and when second turns to 2 failure of regulating mechanism, the second driving mechanism 21 be can be detected at the second deflecting roller 5
In failure state.In addition, the first driving mechanism 11 and the second driving mechanism 21 can also be by the first rack gears 122 and the second rack gear 222
The driving force of output feeds back to road feel ultramagnifier 62, and road feel ultramagnifier 62 can be exported according to the first rack gear 122 and the second rack gear 222
Driving force feedback information of road surface, provide information of road surface for driver or passenger, promote user experience.
In step S3, when one of steering regulating mechanism failure, the control is current normally to turn to regulating mechanism
The first deflecting roller 4 and the second deflecting roller 5 are adjusted simultaneously, comprising the following steps:
Step S33, the current normal speed reducer for turning to regulating mechanism of control receives turning for corresponding driving mechanism output
To execution parameter；
Step S34, the speed reducer (the normal speed reducer for turning to regulating mechanism before i.e.) passes the driving torque simultaneously
The first rack gear 122 and the second rack gear 222 are passed to, makes the first rack gear 122 and the equal output driving power of the second rack gear 222, driving the
One deflecting roller 4 and the rotation of the second deflecting roller 5.
It follows that when steering system works normally, the first rack gear 122 and the second rack gear 222 are without rigid connection, by the
Two driving mechanisms 11 and the second driving mechanism 21, which respectively drive the first rack gear 122 and the second rack gear 222 output rack force, makes first
Deflecting roller 4 and the second deflecting roller 5 turn to；When a steering regulating mechanism in steering system fails, coupling mechanism 3 is controlled
The first rack gear 122 and the coupling of the second rack gear 222 are made, that is, realizes rigid connection, at this point, being provided by the driving mechanism of one end of not failing
Corresponding rack force drives the first deflecting roller 4 and the second deflecting roller 5 to turn to, to guarantee that a steering in steering system is adjusted
Section mechanism when fail steering system still keeps complete turning function, improve the safety of steering system with reliably
Property, the crash rate for losing power-assisted of steering system is greatly reduced, further, since the exploitation and fortune of automatic Pilot at this stage
With especially for the automatic Pilot of L3 rank, after main system failure, it is desirable that back-up system continues to keep former function operation
Requirement, the scheme of the embodiment of the present invention compares the demand that current product can more meet the automatic Pilot of L3 rank.
The embodiment of the present invention also provides a kind of vehicle, including steering system described in the embodiment of the present invention.
The embodiment of the present invention also provides a kind of controller comprising memory and processor, the memory are stored with meter
Calculation machine program, described program can be realized the control of steering system described in the embodiment of the present invention when being executed by the processor
The step of method.
Inventive embodiments also provide a kind of computer readable storage medium, and for storing computer instruction, described instruction exists
The step of realizing the control method of steering system described in the embodiment of the present invention when being executed as a computer or processor.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (17)
1. a kind of steering system, it is characterised in that: include:
First turns to regulating mechanism, the second steering regulating mechanism and coupling mechanism, wherein
The first steering regulating mechanism is connected with the coupling mechanism and the first deflecting roller respectively；
The second steering regulating mechanism is connected with the coupling mechanism and the second deflecting roller respectively；Wherein,
Described first turns to regulating mechanism for the first deflecting roller of adjustment, or adjusts the first deflecting roller and the second deflecting roller simultaneously；
Described second turns to regulating mechanism for the second deflecting roller of adjustment, or adjusts the second deflecting roller and the first deflecting roller simultaneously；
When the coupling mechanism is used to turn to regulating mechanism described first and the second steering regulating mechanism is normal, isolation
Described first, which turns to regulating mechanism and described second, turns to regulating mechanism, and the first steering regulating mechanism is made independently to adjust first
Deflecting roller, the second steering regulating mechanism independently adjust the second deflecting roller；And wherein a steering regulating mechanism failure when, even
It connects described first and turns to regulating mechanism and the second steering regulating mechanism, by normally turning to regulating mechanism while adjustment first
Deflecting roller and the second deflecting roller.
2. steering system according to claim 1, it is characterised in that:
The steering system further includes steering mechanism, is separately connected described first and turns to regulating mechanism and the second steering adjusting
Mechanism for obtaining turn around parameters, and turns to regulating mechanism and second to described first according to the turn around parameters and turns to adjusting
Mechanism output turns to adjustment parameter.
3. steering system according to claim 2, it is characterised in that:
The steering mechanism includes steering column and road feel ultramagnifier, and the steering column is connected with the road feel ultramagnifier,
The road feel ultramagnifier is connected with the first steering regulating mechanism and the second steering regulating mechanism respectively, wherein
The steering column is used to obtain turn around parameters according to the received steering operation of institute, and the turn around parameters are sent to institute
State road feel ultramagnifier；
The road feel ultramagnifier is used to calculate steering adjustment parameter according to the turn around parameters, and by the steering adjustment parameter
It is sent to described first and turns to regulating mechanism and the second steering regulating mechanism.
4. steering system according to claim 2 or 3, it is characterised in that:
The turn around parameters include steering wheel angle and wheel steering torque, and the steering adjustment parameter includes that the first steering is adjusted
It saves mechanism and second and turns to the mobile location information of regulating mechanism.
5. steering system according to claim 2, it is characterised in that:
It is described first turn to regulating mechanism include the first driving mechanism and the first executing agency, first driving mechanism respectively with
The steering mechanism is connected with first executing agency, and first executing agency is connected with first deflecting roller；
Wherein, first driving mechanism is used to turn to adjustment parameter from steering mechanism acquisition is described, and according to described turn
Steering is calculated to adjustment parameter and executes parameter, is sent to first executing agency；
First executing agency is used to execute the first steered wheel rotation of parameter output driving power drive according to the steering, or same
When drive the first deflecting roller and the second steered wheel rotation；
It is described second turn to regulating mechanism include the second driving mechanism and the second executing agency, second driving mechanism respectively with
The steering mechanism is connected with second executing agency, and second executing agency is connected with second deflecting roller；
Wherein, second driving mechanism is used to turn to adjustment parameter from steering mechanism acquisition is described, and according to described turn
Steering is calculated to adjustment parameter and executes parameter, is sent to second executing agency；
Second executing agency is used to execute the second steered wheel rotation of parameter output driving power drive according to the steering, or same
When drive the second steered wheel rotation and the first steered wheel rotation.
6. steering system according to claim 5, it is characterised in that:
First executing agency includes the first speed reducer and the first rack gear for being connected with first speed reducer, and described first
Speed reducer is connected with first driving mechanism, and the first deflecting roller described in first rack gear one end is connected, the other end with
The coupling mechanism is connected；
Second executing agency includes the second speed reducer and the second rack gear for being connected with second speed reducer, and described second
Speed reducer is connected with second driving mechanism, and second rack gear one end is connected with second deflecting roller, the other end
It is connected with the coupling mechanism；
Wherein, the steering that first speed reducer is used to receive the first driving mechanism output executes parameter, and the steering is held
Row parameter includes driving torque, and the driving torque is passed to first rack gear by first speed reducer, makes described first
Rack gear output driving power, or the first rack gear and the second rack gear are passed to simultaneously, keep first rack gear and the second rack gear defeated
Driving force out；
The steering that second speed reducer is used to receive the second driving mechanism output executes parameter, and second speed reducer will
The driving torque passes to second rack gear, makes the first rack gear output driving power, or pass to the second tooth simultaneously
Item and the first rack gear make second rack gear and the equal output driving power of the first rack gear.
7. steering system according to claim 6, it is characterised in that:
Whether first driving mechanism is also connected with the coupling mechanism, be in for the first deflecting roller described in real-time detection
Failure state, if so, sending disablement signal to the coupling mechanism, the coupling mechanism connects after receiving the disablement signal
First rack gear and the second rack gear；
Whether second driving mechanism is also connected with the coupling mechanism, be in for the second deflecting roller described in real-time detection
Failure state, if so, sending disablement signal to the coupling mechanism, the coupling mechanism connects after receiving the disablement signal
First rack gear and the second rack gear.
8. a kind of control method based on steering system described in any one of claim 1-7, it is characterised in that: including with
Lower step:
Whether the first steering regulating mechanism of detection and the second steering regulating mechanism work normally；
If so, coupling mechanism isolation described first, which turns to regulating mechanism and described second, turns to regulating mechanism, described the is controlled
One steering regulating mechanism independently adjusts the first deflecting roller, and the second steering regulating mechanism independently adjusts the second deflecting roller；
Regulating mechanism failure is turned to if one of, and the coupling mechanism connection described first turns to regulating mechanism and described the
Two turn to regulating mechanism, control the current normal regulating mechanism that turns to and adjust the first deflecting roller and the second deflecting roller simultaneously.
9. control method according to claim 8, it is characterised in that:
The method also includes:
Turn around parameters are obtained by steering mechanism, and turn to regulating mechanism and second turn to described first according to the turn around parameters
It is exported to regulating mechanism and turns to adjustment parameter.
10. control method according to claim 9, it is characterised in that:
The turn around parameters include steering wheel angle and wheel steering torque, and the steering adjustment parameter includes that the first steering is adjusted
It saves mechanism and second and turns to the mobile location information of regulating mechanism.
11. control method according to claim 9, it is characterised in that:
Described first, which turns to regulating mechanism, includes the first driving mechanism and the first executing agency, and described second turns to regulating mechanism packet
Include the second driving mechanism and the second executing agency；
It is described first steering regulating mechanism independently adjust the first deflecting roller the following steps are included:
First driving mechanism turns to adjustment parameter from steering mechanism acquisition is described, and is calculated according to the steering adjustment parameter
It turns to out and executes parameter, be sent to first executing agency；
First executing agency executes the first steered wheel rotation of parameter output driving power drive according to the steering；
It is described second steering regulating mechanism independently adjust the second deflecting roller the following steps are included:
Second driving mechanism turns to adjustment parameter from steering mechanism acquisition is described, and according to the steering adjustment parameter
It calculates steering and executes parameter, be sent to second executing agency；
Second executing agency executes the second steered wheel rotation of parameter output driving power drive according to the steering.
12. control method according to claim 11, it is characterised in that:
First executing agency include the first speed reducer and the first rack gear, second executing agency include the second speed reducer and
Second rack gear,
First executing agency executes the first steered wheel rotation of parameter output driving power drive according to the steering, including following
Step:
The steering that first speed reducer receives the first driving mechanism output executes parameter, and the steering executes parameter and includes
Driving torque；
The driving torque is passed to first rack gear by first speed reducer, makes the first rack gear output driving power,
Drive the first steered wheel rotation；
Second executing agency executes the second steered wheel rotation of parameter output driving power drive according to the steering, including following
Step:
The steering that second speed reducer receives the second driving mechanism output executes parameter；
The driving torque is passed to second rack gear by second speed reducer, makes the second rack gear output driving power,
Drive the second steered wheel rotation.
13. control method according to claim 12, it is characterised in that:
If described one of when turning to regulating mechanism failure, the coupling mechanism connection described first turn to regulating mechanism and
Described second, which turns to regulating mechanism, includes:
Whether the first deflecting roller described in the first driving mechanism real-time detection is in failure state, if so, to the coupling
Mechanism sends disablement signal；
Whether the second deflecting roller described in the second driving mechanism real-time detection is in failure state, if so, to the coupling
Mechanism sends disablement signal；
The coupling mechanism connects first rack gear and the second rack gear after receiving the disablement signal.
14. control method according to claim 13, it is characterised in that:
The current normal regulating mechanism that turns to of control adjusts the first deflecting roller and the second deflecting roller, including following step simultaneously
It is rapid:
The steering that the current normal speed reducer for turning to regulating mechanism of control receives corresponding driving mechanism output executes parameter；
The driving torque is passed while being passed to the first rack gear and the second rack gear by the speed reducer, makes first rack gear and second
The equal output driving power of rack gear drives the first deflecting roller and the second steered wheel rotation.
15. a kind of vehicle, which is characterized in that including steering system described in any one of claim 1-7.
16. a kind of controller comprising memory and processor, it is characterised in that: the memory is stored with computer program,
Described program can be realized method described in any one of claim 8 to 14 claim when being executed by the processor
The step of.
17. a kind of computer readable storage medium, for storing computer instruction, it is characterised in that: described instruction is by a meter
The step of calculation machine or processor realize the method as described in any one of claim 8 to 14 claim when executing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810673128.2A CN110228520A (en) | 2018-06-26 | 2018-06-26 | Steering system and its control method and vehicle including it |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810673128.2A CN110228520A (en) | 2018-06-26 | 2018-06-26 | Steering system and its control method and vehicle including it |
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