CN111422251A - 一种具有多种转向模式的无人驾驶汽车转向系统及其控制方法 - Google Patents
一种具有多种转向模式的无人驾驶汽车转向系统及其控制方法 Download PDFInfo
- Publication number
- CN111422251A CN111422251A CN202010448286.5A CN202010448286A CN111422251A CN 111422251 A CN111422251 A CN 111422251A CN 202010448286 A CN202010448286 A CN 202010448286A CN 111422251 A CN111422251 A CN 111422251A
- Authority
- CN
- China
- Prior art keywords
- steering
- motor
- electromagnetic clutch
- mode
- wheel
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000012545 processing Methods 0.000 claims description 11
- 238000003745 diagnosis Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
-
- 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
- B62D5/0475—Controlling other elements
- B62D5/0478—Clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
-
- 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
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)
- Power Steering Mechanism (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010448286.5A CN111422251B (zh) | 2020-05-25 | 2020-05-25 | 一种具有多种转向模式的无人驾驶汽车转向系统及其控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010448286.5A CN111422251B (zh) | 2020-05-25 | 2020-05-25 | 一种具有多种转向模式的无人驾驶汽车转向系统及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111422251A true CN111422251A (zh) | 2020-07-17 |
CN111422251B CN111422251B (zh) | 2024-01-26 |
Family
ID=71551291
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010448286.5A Active CN111422251B (zh) | 2020-05-25 | 2020-05-25 | 一种具有多种转向模式的无人驾驶汽车转向系统及其控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111422251B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112918548A (zh) * | 2021-01-27 | 2021-06-08 | 南京航空航天大学 | 一种磁流变阻尼路感的无级变速线控转向装置及方法 |
CN116834946A (zh) * | 2021-01-18 | 2023-10-03 | 何春远 | 交通运输工具物理与环境极限问题应对方法及其应用 |
Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102923183A (zh) * | 2012-10-26 | 2013-02-13 | 湖南大学 | 一种智能车辆转向机构及其控制方法 |
CN103754256A (zh) * | 2014-01-24 | 2014-04-30 | 中国石油大学(华东) | 一种具有可调转向模式的电动汽车转向系统及控制方法 |
US20150291208A1 (en) * | 2012-10-03 | 2015-10-15 | Nissan Motor Co., Ltd. | Steering control device, and steering control method |
CN106627740A (zh) * | 2017-03-08 | 2017-05-10 | 吉林大学 | 一种适用于线控转向的离合器装置 |
CN106741139A (zh) * | 2016-12-16 | 2017-05-31 | 吉林大学 | 双转子电机线控转向系统及其失效防护装置和控制方法 |
CN107215387A (zh) * | 2017-05-11 | 2017-09-29 | 江苏保千里视像科技集团股份有限公司 | 一种基于转向干预的汽车双驾双控方法及系统 |
CN108189906A (zh) * | 2017-12-08 | 2018-06-22 | 联创汽车电子有限公司 | 电动助力转向系统及其防倒拖方法 |
CN108639146A (zh) * | 2018-05-30 | 2018-10-12 | 南京航空航天大学 | 一种智能辅助转向系统及其控制方法 |
CN109733465A (zh) * | 2018-12-19 | 2019-05-10 | 江苏大学 | 一种转向系统容错装置及方法和车辆 |
CN109774786A (zh) * | 2019-01-30 | 2019-05-21 | 南京航空航天大学 | 一种基于线控转向的多模式助力转向系统及其控制方法 |
CN209870490U (zh) * | 2019-02-02 | 2019-12-31 | 北京奥特尼克科技有限公司 | 一种具有冗余机构的车用线控转向装置 |
CN111017009A (zh) * | 2020-01-03 | 2020-04-17 | 南京航空航天大学 | 一种复合智能转向系统及其控制和故障诊断方法 |
CN111055918A (zh) * | 2019-12-18 | 2020-04-24 | 南京航空航天大学 | 一种基于双绕组电机的双电机线控转向系统及其控制方法 |
CN212125282U (zh) * | 2020-05-25 | 2020-12-11 | 吉林大学 | 一种具有多种转向模式的无人驾驶汽车转向装置 |
US20220126910A1 (en) * | 2020-01-13 | 2022-04-28 | Nanjing University Of Aeronautics And Astronautics | Drive-by-Wire Electro-Hydraulic Steering System Based on Double-Winding Motor and Hybrid Control Method |
-
2020
- 2020-05-25 CN CN202010448286.5A patent/CN111422251B/zh active Active
Patent Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150291208A1 (en) * | 2012-10-03 | 2015-10-15 | Nissan Motor Co., Ltd. | Steering control device, and steering control method |
CN102923183A (zh) * | 2012-10-26 | 2013-02-13 | 湖南大学 | 一种智能车辆转向机构及其控制方法 |
CN103754256A (zh) * | 2014-01-24 | 2014-04-30 | 中国石油大学(华东) | 一种具有可调转向模式的电动汽车转向系统及控制方法 |
CN106741139A (zh) * | 2016-12-16 | 2017-05-31 | 吉林大学 | 双转子电机线控转向系统及其失效防护装置和控制方法 |
CN106627740A (zh) * | 2017-03-08 | 2017-05-10 | 吉林大学 | 一种适用于线控转向的离合器装置 |
CN107215387A (zh) * | 2017-05-11 | 2017-09-29 | 江苏保千里视像科技集团股份有限公司 | 一种基于转向干预的汽车双驾双控方法及系统 |
CN108189906A (zh) * | 2017-12-08 | 2018-06-22 | 联创汽车电子有限公司 | 电动助力转向系统及其防倒拖方法 |
CN108639146A (zh) * | 2018-05-30 | 2018-10-12 | 南京航空航天大学 | 一种智能辅助转向系统及其控制方法 |
CN109733465A (zh) * | 2018-12-19 | 2019-05-10 | 江苏大学 | 一种转向系统容错装置及方法和车辆 |
CN109774786A (zh) * | 2019-01-30 | 2019-05-21 | 南京航空航天大学 | 一种基于线控转向的多模式助力转向系统及其控制方法 |
CN209870490U (zh) * | 2019-02-02 | 2019-12-31 | 北京奥特尼克科技有限公司 | 一种具有冗余机构的车用线控转向装置 |
CN111055918A (zh) * | 2019-12-18 | 2020-04-24 | 南京航空航天大学 | 一种基于双绕组电机的双电机线控转向系统及其控制方法 |
CN111017009A (zh) * | 2020-01-03 | 2020-04-17 | 南京航空航天大学 | 一种复合智能转向系统及其控制和故障诊断方法 |
US20220126910A1 (en) * | 2020-01-13 | 2022-04-28 | Nanjing University Of Aeronautics And Astronautics | Drive-by-Wire Electro-Hydraulic Steering System Based on Double-Winding Motor and Hybrid Control Method |
CN212125282U (zh) * | 2020-05-25 | 2020-12-11 | 吉林大学 | 一种具有多种转向模式的无人驾驶汽车转向装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116834946A (zh) * | 2021-01-18 | 2023-10-03 | 何春远 | 交通运输工具物理与环境极限问题应对方法及其应用 |
CN112918548A (zh) * | 2021-01-27 | 2021-06-08 | 南京航空航天大学 | 一种磁流变阻尼路感的无级变速线控转向装置及方法 |
Also Published As
Publication number | Publication date |
---|---|
CN111422251B (zh) | 2024-01-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110126911B (zh) | 一种满足asil_d标准的无人驾驶冗余转向装置及其控制方法 | |
CN109291991B (zh) | 一种双电机线控复合转向系统及其控制方法 | |
CN212125282U (zh) | 一种具有多种转向模式的无人驾驶汽车转向装置 | |
CN109774786B (zh) | 一种基于线控转向的多模式助力转向系统及其控制方法 | |
CN107792168B (zh) | 一种套筒电机线控转向装置及控制方法 | |
CN103754256B (zh) | 一种具有可调转向模式的电动汽车转向系统及控制方法 | |
CN101229819B (zh) | 用于汽车上的线控转向系统 | |
CN103303361B (zh) | 用于车辆的电动助力转向装置 | |
CN113212542B (zh) | 一种电液耦合的智能循环球式线控转向系统及其控制方法 | |
CN109466621B (zh) | 一种三电机线控转向系统及其控制方法 | |
CN211196343U (zh) | 乘用车多模式电机驱动线控转向系统 | |
CN111422251A (zh) | 一种具有多种转向模式的无人驾驶汽车转向系统及其控制方法 | |
CN209870490U (zh) | 一种具有冗余机构的车用线控转向装置 | |
CN102910199A (zh) | 电辅助平行四边形动力转向系统 | |
CN110696912A (zh) | 乘用车多模式电机驱动线控转向系统及其转向控制方法 | |
CN110588767A (zh) | 一种线控转向系统的多电机冗余装置及控制方法 | |
CN114524019A (zh) | 一种商用车双绕组双电机线控转向系统及其控制方法 | |
CN102229347B (zh) | 电动汽车电动助力转向系统及其转向助力方法 | |
CN114834524B (zh) | 一种多模式双余度主动转向系统总成及控制方法 | |
CN114735076B (zh) | 一种差动协同线控转向的容错控制方法 | |
WO2022227601A1 (zh) | 一种商用车多功能电动循环球转向系统及其控制方法 | |
CN108891480B (zh) | 一种燃油客车电液助力耦合转向系统 | |
CN209739147U (zh) | 一种基于线控转向的多模式助力转向系统 | |
CN113401216A (zh) | 一种电动多模式线控转向系统及其模式切换方法 | |
JP2017001611A (ja) | ステアリング制御装置 |
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 | ||
CB03 | Change of inventor or designer information |
Inventor after: Jin Liqiang Inventor after: Zhang Qixiang Inventor after: Tian Duanyang Inventor after: Wang Kai Inventor after: Tian Mengjie Inventor before: Jin Liqiang Inventor before: Zhang Qixiang Inventor before: Tian Duanyang Inventor before: Wang Kai Inventor before: Tian Mengjie |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240522 Address after: 130000, Building 4, Venture Capital High tech Industrial Park, 200 meters north of the intersection of Zhuoyue East Street and Yiju Road, High tech Zone, Changchun City, Jilin Province Patentee after: Changchun Medic Zhixing Automotive Technology Co.,Ltd. Country or region after: China Address before: 130000 No. 2699 Qianjin Street, Jilin, Changchun Patentee before: Jilin University Country or region before: China |