CN110626423B - Unmanned vehicle line control steering system and working method thereof - Google Patents
Unmanned vehicle line control steering system and working method thereof Download PDFInfo
- Publication number
- CN110626423B CN110626423B CN201910926117.5A CN201910926117A CN110626423B CN 110626423 B CN110626423 B CN 110626423B CN 201910926117 A CN201910926117 A CN 201910926117A CN 110626423 B CN110626423 B CN 110626423B
- Authority
- CN
- China
- Prior art keywords
- steering
- driver
- control system
- vehicle
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an unmanned vehicle line control steering system and a working method thereof, the system adopts a mode that a data acquisition system, a control system and a steering system are mutually matched, the data acquisition system is used for acquiring vehicle driving data and self vehicle data and sending the vehicle driving data and the self vehicle data to the control system, the control system is used for analyzing and processing the received vehicle driving data and the self vehicle data and generating corresponding instructions to send the instructions to the steering system, and the steering system is used for executing the instructions of the control system to complete the steering of a vehicle; the invention adopts a full-wire control mode to control each module, so that the steering of the vehicle is more accurate, the structure of the invention is simple, and the reaction speed is faster.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a working method of a linear control steering system of an unmanned vehicle.
Background
The existing steer-by-wire device mainly comprises a tube column type power-assisted steering device scheme, a pinion power-assisted steering device scheme and the like. The closest of these types of robots to this patent is the pinion assisted power steering. The steering-by-wire device comprises a steering-by-wire controller, a steering driver with miniature servo motor, and a steering controller
The system algorithm, the steering angle compensation algorithm and the self-correction algorithm meet the requirements of high precision, consistency and easy maintenance of the automatic driving requirement.
In the prior art, a steering engine is designed to be a vehicle driven by a person, and in unmanned line control transformation, a sensor and a control unit are additionally arranged on the basis of an original steering engine to realize unmanned line control. In the traditional scheme, position sensor installs more with on the direction tubular column, and has a plurality of drive disk assembly between direction tubular column and rack, because of drive disk assembly is too much, and the transmission clearance who brings will certainly increase to influence the drive-by-wire precision. Furthermore, sensors such as angle and torque sensors are difficult to ensure in the assembly process, further affecting the accuracy of wire control. Finally, on low-speed unmanned vehicles, because of the size limitation of the vehicles, a cab-free scheme is adopted, and a steering column is not arranged in the system, so that the traditional sensor cannot be installed.
Disclosure of Invention
The invention aims to provide a working method of an unmanned vehicle wire-controlled steering system, which solves the problem of the wire-controlled steering of the unmanned vehicle.
The invention is realized by the following technical scheme: the system comprises a data acquisition system, a steering system and a control system, wherein the data acquisition system comprises a camera, a current sensor, a counter, a timer and an angle sensor, and the data acquisition system comprises a camera, a current sensor, a counter, a timer and an angle sensor
The camera is used for collecting vehicle running data, the current sensor, the counter, the timer and the angle sensor are used for collecting vehicle self data, and the data collection system is also used for sending the collected vehicle running data and the vehicle self data to the control system, receiving an instruction of the control system and completing corresponding work;
the control system comprises a vehicle control unit, and is used for analyzing and processing vehicle driving data and vehicle self data acquired by the data acquisition system and sending a control instruction to the steering system and the data acquisition system according to a processing result;
the steering system comprises a steering driver, a power supply and a direct current contactor, and is used for receiving an instruction of the control system and completing corresponding work;
the control system is also used for judging whether the vehicle needs to turn according to the vehicle running data, obtaining the turning angle and the turning angle acceleration which are needed by the vehicle according to the vehicle running data when the vehicle needs to turn, judging whether the turning driver finishes powering up according to the vehicle self data when the vehicle needs to turn, judging whether the turning driver is powered up for the first time according to the vehicle self data after the turning driver finishes powering up, judging whether the turning driver finds a zero point according to the vehicle self data when the turning driver is not powered up for the first time, judging whether the turning driver is set for the first time according to the vehicle self data after the turning driver finds the zero point, judging whether the active power current of the turning driver is greater than 7A according to the vehicle self data when the turning driver is in a normal state, judging whether the stalling time of the turning driver exceeds 7A according to the vehicle self data when the active power of the turning driver is greater than 7A And (4) passing through 1 s.
The steering system further comprises a speed reducer, a gear, a rack, a steering gear pull rod, a connecting hinge, a tie rod, a steering knuckle and wheels, a steering driver is connected with the speed reducer, the speed reducer and the gear are of an integrated structure, the gear is meshed with the rack, the rack and the steering gear pull rod are of an integrated structure, the rack is located in the middle of the steering gear pull rod, any one end of the tie rod is connected with the steering gear pull rod through the connecting hinge, the other end of the tie rod is connected with the steering knuckle, and the steering knuckle is installed in the circle center of the wheels; the steering driver rotates according to the instruction of the control system, the rotating direction of the steering driver controls the vehicle to turn left or right, the rotating number of turns of the steering driver controls the steering angle of the vehicle, and the rotating speed of the steering driver controls the steering angular acceleration of the vehicle. Furthermore, one end of the direct current contactor is connected with a power supply, and the direct current contactor is closed through an instruction of the control system to supply power to the steering system and is disconnected through an instruction of the control system to cut off the power of the steering system.
A working method of a wire-controlled steering system of an unmanned vehicle comprises the following steps: s1: the data acquisition system sends the acquired vehicle running data to the control system; s2: the control system judges whether the vehicle needs to turn according to the received vehicle running data, when the vehicle needs to turn, the control system calculates a turning angle, a turning angular velocity and a turning angular acceleration which are needed by turning and sends an instruction to a turning driver, and meanwhile, the control system sends a starting instruction to the direct current contactor, the current sensor, the timer, the counter and the angular velocity sensor;
s3: the steering driver is used for completing the expected steering angle and the steering angle acceleration according to the command of the control system. Further, the step S3 further includes the following steps: s301: the direct current contactor is closed according to a starting instruction of the control system, and the steering system is electrified to work; s302: the current sensor detects the current of the steering driver according to a starting instruction of the control system to check whether the steering driver is powered on or not and report current data to the control system, and if the steering driver is not powered on, the current sensor reports the current data to the control system; if the steering driver is powered on, the control system sends an instruction that the steering driver enters the step S303 to the steering driver;
s303: the counter records the power-on times of the steering driver according to a starting instruction of the control system and reports the power-on time data to the control system, and if the steering driver is powered on for the first time, the control system sends a 1 s-delayed instruction to the steering driver;
if the steering driver is not powered on for the first time, the control system sends an instruction that the steering driver enters the step S304 to the steering driver;
s304: the control system judges whether the steering driver has a zero position according to historical working data of the steering driver, and if the control system does not find the zero position of the steering driver, the control system sends an instruction that the steering driver enters a working mode 1 and returns to the step S304 to the steering driver; if the control system finds the zero point position of the steering driver, the control system sends an instruction that the steering driver enters the working mode 2 and enters the step S305 to the steering driver;
s305: the counter records the set times of the steering driver according to the instruction of the control system, the control system judges whether the steering driver is set for the first time or not according to the set times of the steering driver sent by the counter, if the steering driver is set for the first time, the control system sends the steering driver to enter a working mode 3 and returns the instruction of the step S305 to the steering driver; if the steering drive is not set for the first time, the control system sends an instruction that the steering drive enters the working mode 4 and enters the step S306 to the steering drive;
s306: the control system judges whether the active power current of the steering driver is larger than 7A or not according to the current signal sent by the current sensor, and if the active power current of the steering driver is not larger than 7A, the control system sends an instruction that the steering driver enters a working mode 4 and enters a step S307 to the steering driver; if the active power current of the steering driver is larger than 7A, the control system sends an instruction for stopping the steering driver and entering the step S307 to the steering driver according to whether the steering driver stalling time sent by the timer exceeds 1S or not; if the locked-rotor time of the steering driver does not exceed 1S, the control system sends an instruction that the steering driver enters the working mode 4 and enters the step S307 to the steering driver;
s307: and the control system sends an instruction for opening the direct current contactor to the direct current contactor. Further, the operation mode 1 includes: the control system finds the zero position of the steering driver; the working mode 2 comprises the following steps: the control system calculates a steering angle value, a steering angle speed value and a steering angle acceleration value which are required by the steering driver to steer according to the vehicle running data collected by the data collection system and sends the values to the steering driver; the working mode 3 comprises: the control system controls the steering driver to carry out direction correction; the working mode 4 comprises: and the steering driver executes a steering angle value or a steering angle velocity value or a steering angle acceleration value command sent by the control system to complete the steering of the vehicle.
Further, the operation mode 4 further includes: the control system calculates an angle value, an angular velocity value and an angular acceleration value of the actual steering of the vehicle according to the return value data of the steering driver, wherein the return value is the actual working data of the steering driver. Further, in step S303, a steering driver delay time 1S is set for waiting for the dc contactor to operate in a stable state and waiting for the steering driver to start.
Further, the zero point position in step S304 is a relative position of the steering angle of the steering actuator or a steering angle value of the steering actuator when the vehicle travels straight.
Compared with the prior art, the invention has the following advantages and beneficial effects: the invention adopts a full-wire control mode to control each module, so that the steering of the vehicle is more accurate, the structure is simple, and the reaction speed is higher;
drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic view of a steering actuator according to the present invention.
FIG. 2 is a schematic flow chart of the present invention.
FIG. 3 is a schematic flow diagram illustrating the present invention. Reference numbers and corresponding part names in the drawings:
1-steering driver, 2-reducer, 3-gear, 4-rack, 5-steering device pull rod, 6-connecting hinge, 7-tie rod, 8-knuckle and 9-wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
As shown in fig. 1, the wire-controlled steering system of the unmanned vehicle comprises a data acquisition system, a steering system and a control system, wherein the data acquisition system comprises a camera, a current sensor, a counter, a timer and an angle sensor, and the data acquisition system comprises a camera, a current sensor, a counter, a timer and an angle sensor
The camera is used for collecting vehicle running data, the current sensor, the counter, the timer and the angle sensor are used for collecting vehicle self data, and the data collection system is also used for sending the collected vehicle running data and the vehicle self data to the control system, receiving an instruction of the control system and completing corresponding work;
the control system comprises a vehicle control unit, and is used for analyzing and processing vehicle driving data and vehicle self data acquired by the data acquisition system and sending a control instruction to the steering system and the data acquisition system according to a processing result;
the steering system comprises a steering driver, a power supply and a direct current contactor, and is used for receiving an instruction of the control system and completing corresponding work;
the control system is also used for judging whether the vehicle needs to turn according to the vehicle running data, obtaining the turning angle and the turning angle acceleration which are needed by the vehicle according to the vehicle running data when the vehicle needs to turn, judging whether the turning driver finishes powering up according to the vehicle self data when the vehicle needs to turn, judging whether the turning driver is powered up for the first time according to the vehicle self data after the turning driver finishes powering up, judging whether the turning driver finds a zero point according to the vehicle self data when the turning driver is not powered up for the first time, judging whether the turning driver is set for the first time according to the vehicle self data after the turning driver finds the zero point, judging whether the active power current of the turning driver is greater than 7A according to the vehicle self data when the turning driver is in a normal state, judging whether the stalling time of the turning driver exceeds 7A according to the vehicle self data when the active power of the turning driver is greater And (4) passing through 1 s.
The technical scheme has the advantages that the steering system of the unmanned vehicle is divided into three modules which are respectively a data acquisition system, a control system and the steering system, a camera in the data acquisition system is used for acquiring vehicle running data, a current sensor, a counter, a timer and an angle sensor in the data acquisition system are used for acquiring vehicle self data, the control system is responsible for analyzing and processing the vehicle self data acquired by the data acquisition system and the vehicle running data to obtain a result, generating a corresponding instruction according to the result and sending the instruction to the steering system, and the steering system is responsible for finishing the instruction of the control system so as to finish the steering process of the vehicle; the control system sends corresponding control instructions to each module of the vehicle in a full-wire control mode in the steering process, and each module completes corresponding work according to the instructions of the control system; it is worth mentioning that the invention can also add a PC end or a remote controller and the like to send steering instructions to the control system, so as to realize remote control of the unmanned vehicle for steering.
As a preferred technical scheme, the steering system further comprises a speed reducer, a gear, a rack, a steering gear pull rod, a connecting hinge, a tie rod, a steering knuckle and wheels, a steering driver is connected with the speed reducer, the speed reducer and the gear are of an integrated structure, the gear is meshed with the rack, the rack and the steering gear pull rod are of an integrated structure, the rack is located in the middle of the steering gear pull rod, any one end of the tie rod is connected with the steering gear pull rod through the connecting hinge, the other end of the tie rod is connected with the steering knuckle, and the steering knuckle is installed at the circle center of the wheels;
the steering driver rotates according to the instruction of the control system, the rotating direction of the steering driver controls the vehicle to turn left or right, the rotating number of turns of the steering driver controls the steering angle of the vehicle, and the rotating speed of the steering driver controls the steering angular acceleration of the vehicle.
The technical scheme has the advantages that the steering system comprises the speed reducer, the gear, the rack, the steering gear pull rod, the connecting hinge, the tie rod, the steering knuckle and the wheels, and the steering system is connected in the mode, so that the structure is simple, the mechanical transmission process is reduced, the mechanical error of the steering system is reduced, the steering accuracy of the unmanned vehicle is improved, and the steering time of the unmanned vehicle is reduced; it is worth mentioning that the steering system of the invention is arranged on the front axle of the unmanned vehicle, and is different from the prior vehicle that the steering system is arranged in the middle of the chassis of the vehicle, and the scheme can further reduce the mechanical transmission process and the mechanical error generated by the steering system. As a preferred technical scheme, one end of the direct current contactor is connected with a power supply, and the direct current contactor is closed through a command of a control system to supply power to a steering system and be disconnected through a command of the control system
And opening the direct current contactor to cut off the power of the steering system. The technical scheme has the advantages that the direct contactor is arranged between the power supply and the steering system and can be controlled by the direct contactor
The direct current contactor is switched on and off to control the power-on and power-off of the steering system, so that the steering system is powered on when in work, and the power supply of the steering system is switched off when the steering system does not work
And (4) deviation.
Example 2. as shown in figure 2,
a working method of a wire-controlled steering system of an unmanned vehicle comprises the following steps: s1: the data acquisition system sends the acquired vehicle running data to the control system; s2: the control system judges whether the vehicle needs to be steered according to the received vehicle running data, when the vehicle needs to be steered,
the control system calculates a steering angle, a steering angular velocity and a steering angular acceleration required by steering and sends an instruction to a steering driver, and simultaneously sends a starting instruction to the direct current contactor, the current sensor, the timer, the counter and the angular velocity sensor;
s3: the steering driver is used for completing the expected steering angle and the steering angle acceleration according to the command of the control system. The technical scheme has the advantages that the steering process of the vehicle is divided into three steps, and firstly, data acquisition is carried out on the vehicle
The integrated system collects the driving data of the vehicle and sends the driving data to the control system, then the control system analyzes and judges whether the vehicle needs to turn or not, when the vehicle needs to turn, the control system calculates the steering angle, the steering angular velocity and the steering angular acceleration which are needed by the turning and sends the steering angle, the steering angular velocity and the steering angular acceleration to the steering system, and finally the steering system executes the command sent by the control system to complete the turning.
Example 3 the present inventors, as shown in figure 3,
as a preferred technical solution, the step S3 further includes the following steps: s301: the direct current contactor is closed according to a starting instruction of the control system, and the steering system is electrified to work; s302: the current sensor detects the current of the steering driver according to the starting instruction of the control system to check whether the steering driver is in a state of being started
Completing power-on and reporting the current data to the control system, and if the steering driver does not complete power-on, reporting the current data to the control system by the current sensor; if the steering driver is powered on, the control system sends an instruction that the steering driver enters the step S303 to the steering driver;
s303: the counter records the power-on times of the steering driver according to a starting instruction of the control system and reports the power-on time data to the control system, and if the steering driver is powered on for the first time, the control system sends a 1 s-delayed instruction to the steering driver; if the steering driver is not powered on for the first time, the control system sends an instruction that the steering driver enters the step S304 to the steering driver;
s304: the control system judges whether the steering driver has a zero position according to historical working data of the steering driver, and if the control system does not find the zero position of the steering driver, the control system sends an instruction that the steering driver enters a working mode 1 and returns to the step S304 to the steering driver; if the control system finds the zero point position of the steering driver, the control system sends an instruction that the steering driver enters the working mode 2 and enters the step S305 to the steering driver;
s305: the counter records the set times of the steering driver according to the instruction of the control system, the control system judges whether the steering driver is set for the first time or not according to the set times of the steering driver sent by the counter, if the steering driver is set for the first time, the control system sends the steering driver to enter a working mode 3 and returns the instruction of the step S305 to the steering driver; if the steering drive is not set for the first time, the control system sends an instruction that the steering drive enters the working mode 4 and enters the step S306 to the steering drive;
s306: the control system judges whether the active power current of the steering driver is larger than 7A or not according to the current signal sent by the current sensor, and if the active power current of the steering driver is not larger than 7A, the control system sends an instruction that the steering driver enters a working mode 4 and enters a step S307 to the steering driver; if the active power current of the steering driver is larger than 7A, the control system sends an instruction for stopping the steering driver and entering the step S307 to the steering driver according to whether the steering driver stalling time sent by the timer exceeds 1S or not; if the locked-rotor time of the steering driver does not exceed 1S, the control system sends an instruction that the steering driver enters the working mode 4 and enters the step S307 to the steering driver;
s307: and the control system sends an instruction for opening the direct current contactor to the direct current contactor. The technical scheme has the advantages that the control system respectively controls each module of the steering system, and simultaneously, the control system continuously analyzes and processes the condition of the steering system at each stage in the steering process of the steering system, generates corresponding instructions according to the analysis and processing results and sends the corresponding instructions to the corresponding modules in the steering system; according to the scheme, the steering system is controlled independently, and the control system updates the control instruction in real time according to the steering system data acquired by the data acquisition system in the steering process, so that the steering of the steering system is more accurate.
As a preferred technical solution, the operation mode 1 includes: the control system finds the zero position of the steering driver;
the working mode 2 comprises the following steps: the control system calculates a steering angle value, a steering angle speed value and a steering angle acceleration value which are required by the steering driver to steer according to the vehicle running data collected by the data collection system and sends the values to the steering driver;
the working mode 3 comprises: the control system controls the steering driver to carry out direction correction;
the working mode 4 comprises: and the steering driver executes a steering angle value or a steering angle velocity value or a steering angle acceleration value command sent by the control system to complete the steering of the vehicle.
The technical scheme has the advantages that in the steering process of the unmanned vehicle, the steering system needs to continuously change the steering angle and the steering angular acceleration to complete steering, different working modes exist in the steering system in the process, and the working modes of the steering system in the steering process are divided into 4; the working mode 1 is used for the working process of finding the zero point when the control system does not find the zero point of the steering driver; the working mode 2 is used for calculating a steering angle value, a steering angle speed value and a steering angle acceleration value required by vehicle steering according to vehicle running data collected by the data collection system and sending the steering angle value, the steering angle speed value and the steering angle acceleration value to the steering driver when the steering driver waits for steering; operating mode 3 is for the case where the steering driving direction is not returned to the normal
The lower control system controls the steering driver to return to the right; the working mode 4 is used for the steering driver to execute a steering command of the control system to complete the process of steering the vehicle.
As a preferred technical solution, the operation mode 4 further includes: the control system calculates an angle value, an angular velocity value and an angular acceleration value of the actual steering of the vehicle according to the return value data of the steering driver, wherein the return value is the actual working data of the steering driver. The technical scheme has the advantages that the actual steering angle value, the actual angular velocity value and the actual angular acceleration value of the vehicle are fed back to the control system, the control system compares the steering angle value, the actual angular velocity value and the actual angular acceleration value according to the steering angle value, the actual angular velocity value and the actual angular acceleration value which are preset before steering, and if errors occur, the control system generates corresponding steering instructions again according to the errors to the steering system, so that the purpose of accurate steering is achieved.
As a preferred technical solution, in step S303, a steering driver delay time 1S is set for waiting for the dc contactor to operate stably and waiting for the steering driver to start.
The advantage of this technical scheme lies in, when turning to the first power-on start-up of driver in this scheme, the effect of time delay 1s lies in waiting to turn to the driver and accomplish to remove and tremble, gets into stable operating condition, thereby avoids influencing the turning to of vehicle because of turning to driver trouble.
As a preferable technical solution, the zero point position in step S304 is a relative position of a steering angle of the steering actuator or a steering angle value of the steering actuator when the vehicle travels straight.
The technical scheme has the advantages that the zero point position is set, so that the steering process of the steering system is more accurately controlled by the control system in the steering process of the unmanned vehicle.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The system comprises a data acquisition system, a steering system and a control system, and is characterized in that the system also comprises the control system, the data acquisition system comprises a camera, a current sensor, a counter, a timer and an angle sensor, the camera is used for acquiring vehicle running data, the current sensor, the counter, the timer and the angle sensor are used for acquiring the data of the vehicle, and the data acquisition system is also used for sending the acquired vehicle running data and the data of the vehicle to the control system, receiving an instruction of the control system and completing corresponding work; the control system comprises a vehicle control unit, and is used for analyzing and processing vehicle driving data and vehicle self data acquired by the data acquisition system and sending a control instruction to the steering system and the data acquisition system according to a processing result; the steering system comprises a steering driver, a power supply and a direct current contactor, and is used for receiving an instruction of the control system and completing corresponding work; the control system is also used for judging whether the vehicle needs to turn according to the vehicle running data, obtaining the turning angle and the turning angle acceleration which are needed by the vehicle according to the vehicle running data when the vehicle needs to turn, judging whether the turning driver finishes powering up according to the vehicle self data when the vehicle needs to turn, judging whether the turning driver is powered up for the first time according to the vehicle self data after the turning driver finishes powering up, judging whether the turning driver finds a zero point according to the vehicle self data when the turning driver is not powered up for the first time, judging whether the turning driver is set for the first time according to the vehicle self data after the turning driver finds the zero point, judging whether the active power current of the turning driver is greater than 7A according to the vehicle self data when the turning driver is in a normal state, and judging the stalling time of the turning driver according to the vehicle self data when the active power current of the turning driver is greater than Whether it exceeds 1 s.
2. The wire-controlled steering system for the unmanned vehicle according to claim 1, wherein the steering system further comprises a speed reducer, a gear, a rack, a steering gear tie rod, a connecting hinge, a tie rod, a knuckle and a wheel, the steering driver is connected with the speed reducer, the speed reducer and the gear are of an integrated structure, the gear is meshed with the rack, the rack and the steering gear tie rod are of an integrated structure, the rack is located in the middle of the steering gear tie rod, any one end of the tie rod is connected with the steering gear tie rod through the connecting hinge, the other end of the tie rod is connected with the knuckle, and the knuckle is installed at the center of the wheel; the steering driver rotates according to the instruction of the control system, the rotating direction of the steering driver controls the vehicle to turn left or right, the rotating number of turns of the steering driver controls the steering angle of the vehicle, and the rotating speed of the steering driver controls the steering angular acceleration of the vehicle.
3. The unmanned vehicle drive-by-wire steering system of claim 1, wherein one end of the dc contactor is connected to a power supply, and the dc contactor is switched on by a command of a control system to power on the steering system and switched off by a command of the control system to power off the steering system.
4. An operating method of an unmanned vehicle steer-by-wire system, which is based on any one of claims 1 to 3, and comprises the following steps:
s1: the data acquisition system sends the acquired vehicle running data to the control system; s2: the control system judges whether the vehicle needs to turn according to the received vehicle running data, when the vehicle needs to turn, the control system calculates a turning angle, a turning angular velocity and a turning angular acceleration which are needed by turning and sends an instruction to a turning driver, and meanwhile, the control system sends a starting instruction to the direct current contactor, the current sensor, the timer, the counter and the angular velocity sensor; s3: the steering driver is used for completing the expected steering angle and the steering angle acceleration according to the command of the control system.
5. The method of operating a steer-by-wire system of an unmanned vehicle of claim 4, wherein said S3 further comprises the steps of: s301: the direct current contactor is closed according to a starting instruction of the control system, and the steering system is electrified to work; s302: the current sensor detects the current of the steering driver according to a starting instruction of the control system to check whether the steering driver is powered on or not and report current data to the control system, and if the steering driver is not powered on, the current sensor reports the current data to the control system; if the steering driver is powered on, the control system sends an instruction that the steering driver enters the step S303 to the steering driver; s303: the counter records the power-on times of the steering driver according to a starting instruction of the control system and reports the power-on time data to the control system, and if the steering driver is powered on for the first time, the control system sends a 1 s-delayed instruction to the steering driver; if the steering driver is not powered on for the first time, the control system sends an instruction that the steering driver enters the step S304 to the steering driver; s304: the control system judges whether the steering driver has a zero position according to historical working data of the steering driver, and if the control system does not find the zero position of the steering driver, the control system sends an instruction that the steering driver enters a working mode 1 and returns to the step S304 to the steering driver; if the control system finds the zero point position of the steering driver, the control system sends an instruction that the steering driver enters the working mode 2 and enters the step S305 to the steering driver; s305: the counter records the set times of the steering driver according to the instruction of the control system, the control system judges whether the steering driver is set for the first time or not according to the set times of the steering driver sent by the counter, if the steering driver is set for the first time, the control system sends the steering driver to enter a working mode 3 and returns the instruction of the step S305 to the steering driver; if the steering drive is not set for the first time, the control system sends an instruction that the steering drive enters the working mode 4 and enters the step S306 to the steering drive; s306: the control system judges whether the active power current of the steering driver is larger than 7A or not according to the current signal sent by the current sensor, and if the active power current of the steering driver is not larger than 7A, the control system sends an instruction that the steering driver enters a working mode 4 and enters a step S307 to the steering driver; if the active power current of the steering driver is larger than 7A, the control system sends an instruction for stopping the steering driver and entering the step S307 to the steering driver according to whether the steering driver stalling time sent by the timer exceeds 1S or not; if the locked-rotor time of the steering driver does not exceed 1S, the control system sends an instruction that the steering driver enters the working mode 4 and enters the step S307 to the steering driver; s307: and the control system sends an instruction for opening the direct current contactor to the direct current contactor.
6. The operating method of the steer-by-wire system of the unmanned vehicle of claim 5, wherein in step S303, a steering driver delay time of 1S is set for waiting for the DC contactor to stabilize the operating state and for waiting for the steering driver to start.
7. The method as claimed in claim 5, wherein the zero point position in step S304 is a relative position of a steering angle of the steering actuator or a steering angle value of the steering actuator when the vehicle travels straight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910926117.5A CN110626423B (en) | 2019-09-27 | 2019-09-27 | Unmanned vehicle line control steering system and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910926117.5A CN110626423B (en) | 2019-09-27 | 2019-09-27 | Unmanned vehicle line control steering system and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110626423A CN110626423A (en) | 2019-12-31 |
| CN110626423B true CN110626423B (en) | 2021-09-14 |
Family
ID=68973469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910926117.5A Active CN110626423B (en) | 2019-09-27 | 2019-09-27 | Unmanned vehicle line control steering system and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110626423B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113562066B (en) * | 2021-07-20 | 2022-09-09 | 浙江万安科技股份有限公司 | Wire-controlled steering system and fault diagnosis method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004021760A1 (en) * | 2003-05-02 | 2004-12-23 | Visteon Global Technologies, Inc., Dearborn | Reconfigurable steer-by-wire steering system for a vehicle |
| CN104736417A (en) * | 2012-10-04 | 2015-06-24 | 日产自动车株式会社 | Steering control device |
| CN107200059A (en) * | 2017-05-24 | 2017-09-26 | 浙江航驱汽车科技有限公司 | There is the control method of brush electric power steering control device |
| CN107776657A (en) * | 2016-08-26 | 2018-03-09 | 株式会社捷太格特 | Steering control device |
| CN108749919A (en) * | 2018-04-17 | 2018-11-06 | 南京航空航天大学 | A kind of line traffic control Four wheel independent steering system fault-tolerant control system and its control method |
| CN110162059A (en) * | 2019-06-05 | 2019-08-23 | 江苏盛海智能科技有限公司 | A kind of control method and automatic driving vehicle of automatic driving vehicle |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8229624B2 (en) * | 1995-06-07 | 2012-07-24 | American Vehicular Sciences Llc | Vehicle diagnostic information generating and transmission systems and methods |
| JP4629533B2 (en) * | 2005-08-22 | 2011-02-09 | 日立オートモティブシステムズ株式会社 | Hydraulic pressure control device and manufacturing method thereof |
| JP4957071B2 (en) * | 2006-05-08 | 2012-06-20 | 日本精工株式会社 | Control device for electric power steering device |
| WO2011152214A1 (en) * | 2010-06-04 | 2011-12-08 | 三菱電機株式会社 | Automatic steering device |
| US8825328B2 (en) * | 2011-04-19 | 2014-09-02 | Ford Global Technologies | Detection of and counter-measures for jackknife enabling conditions during trailer backup assist |
| US8886408B2 (en) * | 2012-01-30 | 2014-11-11 | Honda Motor Co., Ltd. | Vehicle steering control system and method |
| WO2016088718A1 (en) * | 2014-12-02 | 2016-06-09 | 日本精工株式会社 | Electric power steering device |
-
2019
- 2019-09-27 CN CN201910926117.5A patent/CN110626423B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004021760A1 (en) * | 2003-05-02 | 2004-12-23 | Visteon Global Technologies, Inc., Dearborn | Reconfigurable steer-by-wire steering system for a vehicle |
| CN104736417A (en) * | 2012-10-04 | 2015-06-24 | 日产自动车株式会社 | Steering control device |
| CN107776657A (en) * | 2016-08-26 | 2018-03-09 | 株式会社捷太格特 | Steering control device |
| CN107200059A (en) * | 2017-05-24 | 2017-09-26 | 浙江航驱汽车科技有限公司 | There is the control method of brush electric power steering control device |
| CN108749919A (en) * | 2018-04-17 | 2018-11-06 | 南京航空航天大学 | A kind of line traffic control Four wheel independent steering system fault-tolerant control system and its control method |
| CN110162059A (en) * | 2019-06-05 | 2019-08-23 | 江苏盛海智能科技有限公司 | A kind of control method and automatic driving vehicle of automatic driving vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110626423A (en) | 2019-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110001765B (en) | Vehicular steer-by-wire device with redundant mechanism and control method | |
| CN110126911B (en) | Unmanned redundant steering device meeting ASIL_D standard and control method thereof | |
| CN107600168B (en) | Steering control apparatus and method of steer-by-wire system | |
| CN103153758B (en) | Driver assistance in electric power steering controls | |
| CN209852413U (en) | Wire-controlled steering device with redundancy function | |
| CN102452415A (en) | Vehicular steering control apparatus | |
| US10988169B2 (en) | Steering device | |
| CN113581278B (en) | Multi-mode wire control chassis system and control method thereof | |
| US11066095B2 (en) | Controller for steering system and method for controlling steering system | |
| CN111791944A (en) | Steering system | |
| CN110626423B (en) | Unmanned vehicle line control steering system and working method thereof | |
| US20200108853A1 (en) | Driver torque estimation device and electric power steering system | |
| US11407445B2 (en) | Electric power steering system | |
| CN111591341B (en) | Electric power steering apparatus | |
| CN111605611A (en) | Electric intelligent linear servo tie rod vehicle steering method and system | |
| EP3533688B1 (en) | Active steering system for use in hoisting machinery, and hoisting machinery | |
| EP1508501A1 (en) | Method and device for controlling maneuverability of vehicle | |
| US20110313620A1 (en) | Steering control apparatus | |
| CN106828588A (en) | Electric boosting steering system unmanned steering control method | |
| JP2013112188A (en) | Steering control device | |
| US8327699B2 (en) | Factory steering rack centering using electric power steering system | |
| CN218367973U (en) | Hydraulic steering transmission system | |
| AU2022200012B2 (en) | Steering control method and steering wheel steering device for automatic driving | |
| JPH09315331A (en) | Steering angle control device for vehicle | |
| JP4014817B2 (en) | Vehicle steering control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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 |