CN110871843B - Chassis for a motor vehicle, motor vehicle and method for operating a motor vehicle - Google Patents
Chassis for a motor vehicle, motor vehicle and method for operating a motor vehicle Download PDFInfo
- Publication number
- CN110871843B CN110871843B CN201910827374.3A CN201910827374A CN110871843B CN 110871843 B CN110871843 B CN 110871843B CN 201910827374 A CN201910827374 A CN 201910827374A CN 110871843 B CN110871843 B CN 110871843B
- Authority
- CN
- China
- Prior art keywords
- motor vehicle
- chassis
- steering
- wheels
- steering mechanism
- 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.)
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Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000007935 neutral effect Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 7
- 230000002950 deficient Effects 0.000 abstract description 3
- 239000000725 suspension Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects 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
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/148—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering provided with safety devices
Abstract
The invention relates to a chassis (20, 30) for an especially autonomous motor vehicle (10), wherein the motor vehicle (10) has two wheels (21, 22, 31, 32) and a steering mechanism (23, 33). The steering mechanism (23, 33) has a resetting device (26, 27, 36, 37) which is set up to place the chassis (20, 30) in an intermediate position. The invention further relates to a particularly autonomous motor vehicle (10) having two such chassis (20, 30). In a method for operating a particularly autonomous motor vehicle (10), the motor vehicle (10) is controlled in full wheel during normal operation. In an emergency operation, the motor vehicle (10) is controlled exclusively by means of the non-defective steering (23, 33), in which case the steering (23, 33) of one of the chassis (20, 30) is defective.
Description
Technical Field
The invention relates to an especially autonomous motor vehicle and to a chassis for an especially autonomous motor vehicle. The invention further relates to a method for operating a particularly autonomous motor vehicle. Furthermore, the invention relates to a computer program for carrying out each step of the method and to a machine-readable storage medium storing the computer program. Finally, the invention relates to an electronic controller which is set up to carry out the method.
Background
For conventional motor vehicles, the wheels of the front axle are steered. In a few motor vehicles, a steered rear axle is additionally provided for increasing the driving force. Such an all-wheel steering mechanism works mechanically with a planetary gear mechanism (planetary gear). The rear wheels deflect in the same direction as the front wheels when the steering angle is small, and they deflect in opposite directions when the steering angle is large. This allows the turning circle (Wendekreises) to be reduced by steering the rear wheels in the reverse direction at a larger steering angle. Further, for medium and low speeds, the lateral power can be improved by reversing the steering of the rear wheels at a small steering angle. For higher speeds, an improvement in running stability can be achieved by reversing the rear wheels at a small angle.
DE 10 2015 011 408 B3 describes a steering mechanism for a vehicle having steerable front wheels on a front axle and steerable rear wheels on a rear axle. The wheels each have an actual wheel steering angle and can each be adjusted to a target wheel steering angle by means of an actuator. The currently depicted steering radius of the motor vehicle is continuously adjusted by adjusting the actual wheel steering angle on at least one of the axles, wherein the adjustment of the target wheel steering angle is performed by means of the actuation of the steering handle. The steering handle has a zero position. When the target wheel steering angle is predefined by the steering handle within the range around the zero position, the rear wheels change their actual wheel steering angle when the actual wheel steering angle of the front wheels is constant.
Disclosure of Invention
Chassis for a motor vehicle, in particular for autonomous vehicles, have two steerable wheels and a steering mechanism. Furthermore, it has a resetting device which is set up to place the chassis in the intermediate position. The term "intermediate position" refers here to a position of the chassis in which the two wheels of the chassis are arranged parallel, in particular parallel, to the longitudinal axis of the vehicle. Thus, if steering intervention is no longer performed by the steering mechanism, the chassis is forced into the neutral position by the resetting device. In other words, the intermediate position is a position of the chassis in which the traveling vehicle travels straight.
"chassis" refers to the component parts of a motor vehicle that include at least wheels, wheel suspensions, and steering mechanisms. In addition, wheel carriers, wheel bearings, brakes, subframe (fahrscheme) and suspension (Federung) can also be part of the chassis.
The invention is based on the following recognition: a chassis of the type described can be part of an all-wheel steering mechanism, which can be used in particular for autonomous motor vehicles. For steering mechanisms for autonomous vehicles, the steering drives are designed as multiple redundant structures. In the event of failure of the semiconductor or winding, the torque of the steering drive is taken over by the remaining branch windings of the electric drive. By means of a corresponding overdimensioning of the drive, the necessary steering torque can be applied even in the event of a branch failure. However, the redundancy necessary in autonomous vehicles with all-wheel steering has been achieved by the vehicle having two steering mechanisms. If one steering mechanism fails, the motor vehicle can always also be controlled with the other steering mechanism. However, this requires that the wheels of the chassis with the malfunctioning steering mechanism be placed in an intermediate position and behave like rigid wheels of a conventional vehicle with a front steering mechanism in a subsequent steering movement. Although, in cornering, a restoring force is usually acting due to the caster (Nachlauf) of the wheel, which generates a moment that places the wheel in the straight position and thus the chassis in the neutral position. However, the amount of force that acts in this case depends on the caster, which in turn affects the driving dynamics. For low caster, the chassis may not be placed in the neutral position again quickly enough to ensure controllability of the motor vehicle in the event of failure of the steering mechanism. However, the resetting device increases the resetting force in the event of a failure of the steering mechanism, so that the motor vehicle can again be controlled quickly.
The return device preferably has a spring, which is arranged in particular on separate tie rods on both sides of the steering gear of the steering mechanism. In the steering movement, one of the springs is compressed in each case and causes a restoring force which acts on the separate tie rod in such a way that it returns the chassis into its neutral position when no torque acts on the autonomous steering drive of the steering mechanism.
Furthermore, it is preferred that the chassis has a locking element for mechanically locking a steering gear of a steering mechanism of the chassis. If the chassis with the malfunctioning steering mechanism has been placed in its neutral position, it can be locked there by means of a mechanical lock for preventing it from moving out of this neutral position again during cornering. This can be achieved in particular by the locking element engaging into a steering rack of the steering gear.
An autonomous motor vehicle in particular has two of the chassis described above. As a result, an all-wheel steering system of a motor vehicle, in particular autonomous, is provided, which has its advantageous effects on the cornering circumference, the lateral dynamics and the driving stability. At the same time, in the event of failure of the steering mechanism of one of the chassis, this chassis can be quickly placed in its neutral position and the steering mechanism of the remaining chassis can take over the control of the motor vehicle. Redundancy of the steering function is thus ensured.
In order that the motor vehicle can travel forward and backward equally well, it is preferred that the two chassis are identical. Furthermore, the use of identical components on the front and rear sides of the motor vehicle also facilitates its production.
In a method for operating a particularly autonomous motor vehicle, in normal operation, all-wheel control or all-wheel steering of the motor vehicle is carried out. By "normal operation" is meant an operation in which there is no defect in at least one steering mechanism of the motor vehicle. In addition to the normal operation, the method provides for an emergency operation in which the steering mechanism of one of the chassis fails. In the emergency operation, the motor vehicle is controlled or steered solely by means of the non-defective steering mechanism.
In order to ensure that the motor vehicle has the same driving performance as a conventional motor vehicle which is steered on only one axle in emergency operation, it is preferable that the chassis with the malfunctioning steering mechanism is placed in an intermediate position and locked therein in emergency operation. The intermediate position can be set by means of the resetting device and can be locked by means of the locking element.
The computer program is set up for: each step of the method is carried out, in particular, when it is run on a computer or an electronic controller. The computer program enables different embodiments of the method to be implemented on an electronic controller without structural modifications to the electronic controller. To this end, the computer program is stored on the machine-readable storage medium.
The electronic control unit is obtained by loading the computer program onto a conventional electronic control unit, which is designed to operate a particularly autonomous motor vehicle by means of the method. Particularly autonomous motor vehicles preferably have such an electronic control.
Drawings
Embodiments of the invention are illustrated in the accompanying drawings and explained in detail in the following description.
Fig. 1a and 1b show the wheel positions of a particularly autonomous motor vehicle, which is controlled by means of a full-wheel control, according to an embodiment of the invention.
Fig. 2 shows a schematic cross-section of an especially autonomous motor vehicle according to an embodiment of the invention.
Fig. 3a and 3b show the wheel positions of a motor vehicle, in particular of an autonomous vehicle, in the event of failure of a steering mechanism of one of its chassis, according to an embodiment of the invention.
Detailed Description
An embodiment of the invention provides a particularly autonomous motor vehicle 10 having two wheels 21, 22 on its front axle and two wheels 31, 32 on its rear axle. In normal operation, all wheels can be steered for the purpose of enabling all-wheel control of the motor vehicle 10 as such. Fig. 1a shows the wheel position of a reverse steering revolution (Lenkeinschlags) of the motor vehicle 10 at medium and low speeds, e.g. not exceeding 50km/h (gegensinnagen). Figure 1b shows the homodromous steering revolution at high speeds, e.g. exceeding 50 km/h.
As shown in fig. 2, the motor vehicle 10 has two chassis 20, 30. Two front wheels 21, 22 are fixed to the front chassis 20. They are controlled by means of a front steering mechanism 23. The present invention relates to a rack steering (Zahnstangenlenkung) having a steering gear (lenkgetebe) 231 and a steering lever (lenksrange) 232. The steering rod 232 can be moved during autonomous travel by means of a steering drive, not shown. The front chassis 20 has a tie rod (sparstange) with two root portions 24, 25. Springs as return devices 26, 27 are arranged on each of the partial tie rods 24, 25. The front steering mechanism 23 furthermore has a locking element (Arretieelement) 233 which is designed to mechanically lock the steering lever 232 in such a way that the front chassis 20 can no longer be moved out of its intermediate position.
The rear wheels 31, 32 of the motor vehicle 10 are part of the rear chassis 30 thereof. The rear chassis is identical in construction to the front chassis 20. It has a rear steering mechanism 33 which in turn has a steering gear 331, a steering rod 332 and a locking element 333. Furthermore, it has part of the tie rods 34, 35 and return devices 36, 37. The steering drive means of the front steering mechanism 32 and the rear steering mechanism 33 are controlled by an electronic controller 40.
If the steering drive of the front steering 23 fails, the front chassis is placed in its neutral position by the front chassis resetting devices 26, 27. In the shown position of the wheels 21, 22 of the front chassis, the spring of the return device 26, which is arranged above in fig. 2, is compressed and causes a return force, which is shown by means of an arrow, acting on a part of its tie rod 24, which is transmitted via the steering gear 231 to the other part of the tie rod 25 and to the steering rod 232. If the electronic control 40 recognizes a failure of the steering drive of the front steering mechanism 23, it actuates an actuator by means of which the locking element 233 of the front steering mechanism 23 locks the front steering mechanism in the neutral position as soon as the front chassis 20 reaches its neutral position. The motor vehicle 10 is now switched to emergency operation, in which it is controlled exclusively by the rear steering 33.
As shown in fig. 3a, the motor vehicle 10 now behaves like a motor vehicle with a rear axle control when moving in the direction of the arrow shown there. The rear wheels 31, 32 can be moved for steering the motor vehicle, while the front wheels 21, 22 are fixed in a straight-ahead position (Geradeausfashtposition).
If not the steering drive on the front chassis 20 but in other words on the rear chassis 30 fails, the rear chassis is locked in its neutral position and the motor vehicle 10 is then controlled by means of the front steering mechanism 23. As shown in fig. 3b, the motor vehicle 10 then behaves like a motor vehicle with a front axle steering mechanism when moving in the direction of the arrow, for which the front wheels 21, 22 can be moved for steering and the rear wheels 31, 32 are fixed in the straight-ahead position.
Claims (11)
1. Motor vehicle (10) having two chassis (20, 30), each of which has two wheels (21, 22, 31, 32) and a steering (23, 33), characterized in that the two chassis (20, 30) also each have a resetting device (26, 27, 36, 37) which is set up for placing the respective chassis (20, 30) in an intermediate position, which means a position in which the two wheels of the chassis are arranged parallel to the longitudinal axis of the vehicle, wherein in the event of a failure of the steering (23, 33) of one of the two chassis (20, 30), the chassis with the failed steering is placed in its intermediate position by means of the resetting device (26, 27, 36, 37) and the steering of the remaining chassis takes over the control of the motor vehicle.
2. Motor vehicle (10) according to claim 1, characterized in that the return device (26, 27, 36, 37) has a spring.
3. Motor vehicle (10) according to claim 1 or 2, characterized in that the two chassis (20, 30) furthermore each have a locking element (233, 333) for mechanically locking a steering gear (231, 331) of a steering mechanism (23, 33) of the chassis.
4. The motor vehicle (10) according to claim 1 or 2, characterized in that the motor vehicle (10) is an autonomous motor vehicle (10).
5. Motor vehicle (10) according to claim 1 or 2, characterized in that the two chassis (20, 30) are identical.
6. Method for operating a motor vehicle (10) according to any one of claims 1 to 5, wherein in normal operation the motor vehicle (10) is controlled in full wheel and in emergency operation the motor vehicle (10) is controlled solely by means of a non-malfunctioning steering (23, 33), in which emergency operation the steering (23, 33) of one of the chassis (20, 30) is malfunctioning, wherein in emergency operation the chassis with the malfunctioning steering is placed in its neutral position by means of the resetting device (26, 27, 36, 37) and the steering of the remaining chassis takes over the control of the motor vehicle.
7. Method according to claim 6, characterized in that the chassis (20, 30) with the malfunctioning steering mechanism (23, 33) is placed in an intermediate position and locked in said intermediate position in an emergency operation.
8. A machine-readable storage medium having stored thereon a computer program which is set up for carrying out each step of the method according to claim 6 or 7.
9. Electronic control unit (40) which is designed to operate a motor vehicle (10) by means of a method according to claim 6 or 7.
10. Motor vehicle (10) according to claim 1 or 2, characterized in that it has an electronic controller (40) according to claim 9.
11. The motor vehicle (10) according to claim 10, characterized in that the motor vehicle (10) is an autonomous motor vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018214983.6 | 2018-09-04 | ||
| DE102018214983.6A DE102018214983A1 (en) | 2018-09-04 | 2018-09-04 | Chassis for a motor vehicle, motor vehicle and method for its operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110871843A CN110871843A (en) | 2020-03-10 |
| CN110871843B true CN110871843B (en) | 2023-12-19 |
Family
ID=69526837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910827374.3A Active CN110871843B (en) | 2018-09-04 | 2019-09-03 | Chassis for a motor vehicle, motor vehicle and method for operating a motor vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110871843B (en) |
| DE (1) | DE102018214983A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696962A (en) * | 2021-07-30 | 2021-11-26 | 北京信息职业技术学院 | Automobile drive-by-wire steering mechanism based on multi-sensor fusion intelligent internet |
| EP4201788A1 (en) | 2021-12-22 | 2023-06-28 | thyssenkrupp Presta AG | Steering device and vehicle with a steering device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4042053A (en) * | 1974-12-24 | 1977-08-16 | Allis-Chalmers Corporation | Four-wheel drive tractor |
| JPH01266067A (en) * | 1988-04-15 | 1989-10-24 | Mazda Motor Corp | Device for steering rear wheel of vehicle |
| JPH01174286U (en) * | 1988-05-30 | 1989-12-11 | ||
| US5261500A (en) * | 1991-01-18 | 1993-11-16 | General Motors Corporation | Four-wheel steering locking mechanism for a motor vehicle |
| US5261501A (en) * | 1991-08-08 | 1993-11-16 | Honda Giken Kogyo Kabushiki Kaisha | Four-wheel steering system with steering motor short circuit control |
| US5680819A (en) * | 1992-07-24 | 1997-10-28 | Linke-Hofmann-Busch Gmbh | Vehicle combination with at least two vehicles with steered single-wheelset chassis |
| JPH1157235A (en) * | 1997-08-26 | 1999-03-02 | Seiko Precision Kk | Small model automobile |
| JP2000118431A (en) * | 1998-10-19 | 2000-04-25 | Kubota Corp | Steering operation device for working machine |
| CN2730714Y (en) * | 2004-10-26 | 2005-10-05 | 中国重型汽车集团有限公司 | Steering reset device for servo steering support axle |
| JP2006175925A (en) * | 2004-12-21 | 2006-07-06 | Toyota Motor Corp | Steering device for vehicle |
| WO2013075960A2 (en) * | 2011-11-25 | 2013-05-30 | Zf Lenksysteme Gmbh | Steering centring means |
| WO2013153295A1 (en) * | 2012-04-13 | 2013-10-17 | Gobard Benoit | Transport vehicle or hinged tool-support for driving on the ground |
| WO2015055363A1 (en) * | 2013-10-16 | 2015-04-23 | Zf Friedrichshafen Ag | Steering angle device for a motor vehicle |
| CN104925132A (en) * | 2015-07-08 | 2015-09-23 | 武汉理工大学 | Chassis with four-wheel steering function |
| CN205686552U (en) * | 2016-06-14 | 2016-11-16 | 重庆塞夫科技有限公司 | Transfer |
-
2018
- 2018-09-04 DE DE102018214983.6A patent/DE102018214983A1/en active Pending
-
2019
- 2019-09-03 CN CN201910827374.3A patent/CN110871843B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4042053A (en) * | 1974-12-24 | 1977-08-16 | Allis-Chalmers Corporation | Four-wheel drive tractor |
| JPH01266067A (en) * | 1988-04-15 | 1989-10-24 | Mazda Motor Corp | Device for steering rear wheel of vehicle |
| JPH01174286U (en) * | 1988-05-30 | 1989-12-11 | ||
| US5261500A (en) * | 1991-01-18 | 1993-11-16 | General Motors Corporation | Four-wheel steering locking mechanism for a motor vehicle |
| US5261501A (en) * | 1991-08-08 | 1993-11-16 | Honda Giken Kogyo Kabushiki Kaisha | Four-wheel steering system with steering motor short circuit control |
| US5680819A (en) * | 1992-07-24 | 1997-10-28 | Linke-Hofmann-Busch Gmbh | Vehicle combination with at least two vehicles with steered single-wheelset chassis |
| JPH1157235A (en) * | 1997-08-26 | 1999-03-02 | Seiko Precision Kk | Small model automobile |
| JP2000118431A (en) * | 1998-10-19 | 2000-04-25 | Kubota Corp | Steering operation device for working machine |
| CN2730714Y (en) * | 2004-10-26 | 2005-10-05 | 中国重型汽车集团有限公司 | Steering reset device for servo steering support axle |
| JP2006175925A (en) * | 2004-12-21 | 2006-07-06 | Toyota Motor Corp | Steering device for vehicle |
| WO2013075960A2 (en) * | 2011-11-25 | 2013-05-30 | Zf Lenksysteme Gmbh | Steering centring means |
| WO2013153295A1 (en) * | 2012-04-13 | 2013-10-17 | Gobard Benoit | Transport vehicle or hinged tool-support for driving on the ground |
| WO2015055363A1 (en) * | 2013-10-16 | 2015-04-23 | Zf Friedrichshafen Ag | Steering angle device for a motor vehicle |
| CN104925132A (en) * | 2015-07-08 | 2015-09-23 | 武汉理工大学 | Chassis with four-wheel steering function |
| CN205686552U (en) * | 2016-06-14 | 2016-11-16 | 重庆塞夫科技有限公司 | Transfer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110871843A (en) | 2020-03-10 |
| DE102018214983A1 (en) | 2020-03-05 |
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