CN110937020A

CN110937020A - Electric steering control system suitable for automatic driving automobile

Info

Publication number: CN110937020A
Application number: CN201911375495.5A
Authority: CN
Inventors: 王新辉; 张全成; 孙伟; 张汝林; 蒋世杰; 刘斯云; 罗沛; 代郑威; 高璐; 杨飞飞; 魏斐; 方正; 任龙辉
Original assignee: Zhengzhou Nissan Automobile Co Ltd
Current assignee: Zhengzhou Nissan Automobile Co Ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-03-31

Abstract

The invention discloses an electric steering control system suitable for an automatic driving automobile, which comprises a single chip microcomputer, a CAN (controller area network) transceiver module, a steering execution motor, an angle sensor, a torque sensor and a fault diagnosis module, wherein the single chip microcomputer is connected with the CAN transceiver module; the single chip microcomputer is communicated with an original vehicle central control system through a CAN (controller area network) transceiver module; the single chip microcomputer decodes the received steering angle, angular speed and rotating direction signals sent by the original vehicle central control system, and controls a steering execution motor to adopt corresponding operation through the current angle of a steering wheel acquired by an angle sensor; the torque sensor is used for detecting whether external intervention torque is applied to the steering wheel in the automatic driving process, and when the torque detected by the torque sensor is larger than or equal to 5Nm and the duration time is larger than a set threshold value, the original vehicle EPS controller sends a driver intervention steering wheel flag bit; and the fault diagnosis module is used for sending a hardware fault flag bit when the angle sensor has zero loss and permanent system hardware fault, and the vehicle exits the automatic driving mode.

Description

Electric steering control system suitable for automatic driving automobile

Technical Field

The present invention relates to an autonomous vehicle, and more particularly, to an electric power steering control system suitable for an autonomous vehicle.

Background

With the continuous development of the automobile industry, more and more families now own home automobiles. The automobile makes the trip of people more convenient and fast on the one hand, and on the other hand, brings many disadvantages to the life of people, and causes such as traffic accidents caused by the automobile bring great life and property loss to people. Under the background, along with the development of automobile intellectualization and the popularization of networks, the unmanned automobile is out of the way, and how to realize accurate automatic steering of the electric steering system of the unmanned automobile becomes an important subject for the research of technicians in the field.

Disclosure of Invention

The invention aims to provide an electric steering control system suitable for an automatic driving automobile, which realizes an automatic steering control function on the basis of the original power-assisted steering control of the electric automobile.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention relates to an electric steering control system suitable for an automatic driving automobile, which comprises a singlechip, a CAN (controller area network) transceiver module, a steering execution motor, an angle sensor, a torque sensor and a fault diagnosis module, wherein the CAN transceiver module is used for receiving and transmitting a control signal; the single chip microcomputer is communicated with an original vehicle central control system through the CAN transceiving module; the data transmitted by the CAN transceiving module comprises artificial/intelligent signals, steering angles, steering angular speeds, return angles, return angular speeds and return torque data signals; the single chip microcomputer decodes the received steering angle, angular speed and rotating direction signals sent by the original vehicle central control system, and controls the steering execution motor to adopt corresponding forward rotation, reverse rotation, acceleration, deceleration and stop operations after internal program operation according to the current angle of the steering wheel acquired by the angle sensor; the torque sensor is used for detecting whether external intervention torque is applied to a steering wheel in the automatic driving process and sending detection data to an original vehicle central control system through the CAN transceiver module; when the torque detected by the torque sensor is larger than or equal to 5Nm and the duration time is larger than a set threshold value, the original vehicle EPS controller sends a steering wheel zone bit interfered by a driver; when the vehicle speed is more than or equal to 40km/h, the original vehicle EPS controller sends a vehicle speed exceeding a set threshold marker bit; the fault diagnosis module is used for sending fault information to a central control system of an original vehicle and sending fault zone bits of the angle sensor to an EPS controller of the original vehicle when the angle sensor has a fault or zero position is lost; and when a permanent system hardware fault is detected, sending a hardware fault flag bit, and enabling the vehicle to exit the automatic driving mode.

Former car EPS controller sends angle sensor trouble zone bit, includes: and when the target rotation angle data does not respond for three times of more than 10 degrees or for one time of more than 15 degrees, executing the last target rotation angle value and simultaneously sending the target angle out-of-range zone bit.

The invention matches an automatic driving controller for software development on the basis of an EPS (electric power steering) controller of a basic vehicle, adds an automatic steering control function on the basis of power steering control, and keeps the power steering function in a manual mode; therefore, the method has strong implementability and does not need to newly develop a hardware system. The original vehicle EPS controller calculates steering torque, drives a steering execution motor to realize steering operation, feeds back system execution or the current state of the system, and feeds back the reason of the quit state when the automatic driving mode is quitted when abnormality occurs, thereby greatly improving the safety and reliability of the automatic driving vehicle.

Drawings

Fig. 1 is a schematic diagram of the control system structure of the present invention.

Fig. 2 is a control flow block diagram of the present invention.

Detailed Description

The following describes embodiments of the present invention in detail with reference to the drawings, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are provided, but the scope of the present invention is not limited to the following embodiments.

As shown in fig. 1 and 2, the electric steering control system suitable for an automatic driving automobile comprises a single chip microcomputer, a CAN transceiver module, a steering execution motor, an angle sensor, a torque sensor and a fault diagnosis module; the single chip microcomputer is communicated with an original vehicle central control system through the CAN transceiving module; the data transmitted by the CAN transceiving module comprises artificial/intelligent signals, steering angles, steering angular speeds, return angles, return angular speeds and return torque data signals; the single chip microcomputer decodes the received steering angle, angular speed and rotating direction signals sent by the original vehicle central control system, and controls the steering execution motor to adopt corresponding forward rotation, reverse rotation, acceleration, deceleration and stop operations after internal program operation according to the current angle of the steering wheel acquired by the angle sensor; the torque sensor is used for detecting whether external intervention torque is applied to a steering wheel in the automatic driving process and sending detection data to an original vehicle central control system through the CAN transceiver module; when the torque detected by the torque sensor is larger than or equal to 5Nm and the duration is larger than a set threshold, an on-vehicle EPS (electric power steering) controller sends a marker bit of a steering wheel interfered by a driver; when the vehicle speed is more than or equal to 40km/h, the original vehicle EPS controller sends a vehicle speed exceeding a set threshold marker bit; the fault diagnosis module is used for sending fault information to a central control system of an original vehicle and sending fault zone bits of the angle sensor to an EPS controller of the original vehicle when the angle sensor has a fault or zero position is lost; and when a permanent system hardware fault is detected, sending a hardware fault flag bit, and enabling the vehicle to exit the automatic driving mode.

Former car EPS controller sends angle sensor trouble flag bit, includes: and when the target rotation angle data does not respond for three times of more than 10 degrees or for one time of more than 15 degrees, executing the last target rotation angle value and simultaneously sending the target angle out-of-range zone bit.

Claims

1. An electric power steering control system adapted to an autonomous vehicle, characterized in that: the device comprises a singlechip, a CAN (controller area network) transceiver module, a steering execution motor, an angle sensor, a torque sensor and a fault diagnosis module; the single chip microcomputer is communicated with an original vehicle central control system through the CAN transceiving module; the data transmitted by the CAN transceiving module comprises artificial/intelligent signals, steering angles, steering angular speeds, return angles, return angular speeds and return torque data signals; the single chip microcomputer decodes the received steering angle, angular speed and rotating direction signals sent by the original vehicle central control system, and controls the steering execution motor to adopt corresponding forward rotation, reverse rotation, acceleration, deceleration and stop operations after internal program operation according to the current angle of the steering wheel acquired by the angle sensor; the torque sensor is used for detecting whether external intervention torque is applied to a steering wheel in the automatic driving process and sending detection data to an original vehicle central control system through the CAN transceiver module; when the torque detected by the torque sensor is larger than or equal to 5Nm and the duration is larger than a set threshold, an on-vehicle EPS (electric power steering) controller sends a marker bit of a steering wheel interfered by a driver; when the vehicle speed is more than or equal to 40km/h, the original vehicle EPS controller sends a vehicle speed exceeding a set threshold marker bit; the fault diagnosis module is used for sending fault information to a central control system of an original vehicle and sending fault zone bits of the angle sensor to an EPS controller of the original vehicle when the angle sensor has a fault or zero position is lost; and when a permanent system hardware fault is detected, sending a hardware fault flag bit, and enabling the vehicle to exit the automatic driving mode.

2. The electric power steering control system for an autonomous vehicle according to claim 1, characterized in that: former car EPS controller sends angle sensor trouble zone bit, includes: and when the target rotation angle data does not respond for three times of more than 10 degrees or for one time of more than 15 degrees, executing the last target rotation angle value and simultaneously sending the target angle out-of-range zone bit.