CN110626337B - 一种无人驾驶商用车转向安全冗余系统及控制方法 - Google Patents
一种无人驾驶商用车转向安全冗余系统及控制方法 Download PDFInfo
- Publication number
- CN110626337B CN110626337B CN201910990987.9A CN201910990987A CN110626337B CN 110626337 B CN110626337 B CN 110626337B CN 201910990987 A CN201910990987 A CN 201910990987A CN 110626337 B CN110626337 B CN 110626337B
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- Prior art keywords
- steering
- oil pump
- motor
- controller
- unmanned
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Links
- 238000000034 method Methods 0.000 title claims description 39
- 239000010705 motor oil Substances 0.000 claims abstract description 64
- 239000003921 oil Substances 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000011217 control strategy Methods 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000002955 isolation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (13)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910990987.9A CN110626337B (zh) | 2019-10-17 | 2019-10-17 | 一种无人驾驶商用车转向安全冗余系统及控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910990987.9A CN110626337B (zh) | 2019-10-17 | 2019-10-17 | 一种无人驾驶商用车转向安全冗余系统及控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110626337A CN110626337A (zh) | 2019-12-31 |
CN110626337B true CN110626337B (zh) | 2020-09-15 |
Family
ID=68976667
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910990987.9A Active CN110626337B (zh) | 2019-10-17 | 2019-10-17 | 一种无人驾驶商用车转向安全冗余系统及控制方法 |
Country Status (1)
Country | Link |
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CN (1) | CN110626337B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111186479B (zh) * | 2020-01-15 | 2021-07-20 | 江苏大学 | 一种线控转向的容错系统及方法 |
CN111791896B (zh) * | 2020-07-17 | 2021-09-24 | 北京易控智驾科技有限公司 | 无人驾驶车辆的安全控制方法及系统 |
CN111824251B (zh) * | 2020-07-30 | 2022-04-01 | 清华大学 | 一种节能型智能电液转向系统及控制方法 |
CN112654931B (zh) * | 2020-08-31 | 2022-05-13 | 华为技术有限公司 | 一种控制系统、控制方法、智能汽车以及装置 |
CN112660235A (zh) * | 2020-12-28 | 2021-04-16 | 嬴彻科技(浙江)有限公司 | 冗余助力转向系统及其控制方法、以及车辆 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2509186A (en) * | 2012-12-21 | 2014-06-25 | Agco Netherlands Bv | Emergency steering mode of a vehicle hydraulic system having a first pump driven by a prime mover and a second pump driven by a ground engaging member |
CN203255243U (zh) * | 2013-05-23 | 2013-10-30 | 陕西重型汽车有限公司 | 混合动力车转向控制装置 |
CN103552601B (zh) * | 2013-11-07 | 2016-04-13 | 邓平 | 具有自动补救功能的液压转向控制方法 |
CN105109546B (zh) * | 2015-08-21 | 2017-11-14 | 郑州宇通客车股份有限公司 | 双能源电动液压助力转向系统、控制方法及电动客车 |
CN107618565B (zh) * | 2017-09-22 | 2020-01-10 | 厦门金龙联合汽车工业有限公司 | 一种双源应急电动助力转向系统的切换控制方法 |
CN107985397B (zh) * | 2017-12-27 | 2024-01-16 | 潍柴动力股份有限公司 | 一种应急车辆转向系统、新能源汽车及转向方法 |
CN110027612A (zh) * | 2018-01-12 | 2019-07-19 | 芜湖佳景科技有限公司 | 商用车及其转向系统 |
CN209241163U (zh) * | 2018-11-21 | 2019-08-13 | 比亚迪股份有限公司 | 转向助力系统和电动汽车 |
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2019
- 2019-10-17 CN CN201910990987.9A patent/CN110626337B/zh active Active
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Publication number | Publication date |
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CN110626337A (zh) | 2019-12-31 |
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Steering safety redundancy system and control method for unmanned commercial vehicle Effective date of registration: 20211224 Granted publication date: 20200915 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: Beijing Easy Controlled Intelligent Driving Technology Co.,Ltd. Registration number: Y2021990001196 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Granted publication date: 20200915 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: Beijing Easy Controlled Intelligent Driving Technology Co.,Ltd. Registration number: Y2021990001196 |