CN112498475B - Chassis steering system, safety protection method and device - Google Patents
Chassis steering system, safety protection method and device Download PDFInfo
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- CN112498475B CN112498475B CN202011460430.3A CN202011460430A CN112498475B CN 112498475 B CN112498475 B CN 112498475B CN 202011460430 A CN202011460430 A CN 202011460430A CN 112498475 B CN112498475 B CN 112498475B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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- 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
- B62D7/1554—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 comprising a fluid interconnecting system between the steering control means of the different axles
- B62D7/1572—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 comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
Abstract
The invention discloses a chassis steering system, a safety protection method and a device, wherein the chassis steering system comprises: steering controller, angle recognition device, N1To NnElectric cylinder driver of shaft, N1To NnThe system comprises an electric cylinder with an axis and a display terminal; steering angle information acquired by the angle recognition device and the N are respectively corrected by a steering controller1To NnThe working state of the shaft electric cylinder driver is monitored abnormally, if the steering angle information is monitored to be abnormal or the working state of any shaft electric cylinder driver is monitored to be abnormal, the steering angle of each steering wheel is controlled to keep a preset safe posture, the abnormal information is reported to the display terminal to be displayed, the safety protection of the chassis steering system is effectively realized, and the system reliability is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a chassis steering system, and a safety protection method and device applied to the chassis steering system.
Background
The chassis steering system is one of the key control systems for ensuring the normal running of the vehicle. Because each shaft of the multi-shaft steering system based on the electric cylinder is independent in steering, the attitude of the wheels of the whole vehicle is extremely easy to be inconsistent when a certain shaft steering component works abnormally, the vehicle cannot run normally if the attitude is low, and the rear group steering transmission mechanism of the whole vehicle is damaged if the attitude is high.
Therefore, it is an urgent problem to provide a safety protection scheme for a chassis steering system.
Disclosure of Invention
The invention provides a chassis steering system, and a safety protection method and device applied to the chassis steering system, which can effectively realize the safety protection of the chassis steering system and improve the reliability of the system.
In a first aspect, embodiments of the present specification provide a chassis steering system, including: steering controller, angle recognition device, N1To NnElectric cylinder driver of shaft, N1To NnThe electronic jar of axle and display terminal. Wherein: the angle recognition device, N1To NnThe shaft electric cylinder driver and the display terminal are connected with the steering controller. The steering controller is used for steering control of each steering wheel of the vehicle and respectively carrying out steering angle information acquired by the angle identification equipment and the steering angle N1To NnAnd monitoring the working state of the electric cylinder driver of each shaft abnormally, controlling the steering angle of each steering wheel to keep a preset safe posture if the steering angle information is monitored to be abnormal or the working state of any electric cylinder driver of each shaft is monitored to be abnormal, and reporting the abnormal information to a display terminal for displaying, wherein the safe posture is a posture capable of ensuring the steering coordination of each steering wheel.
Furthermore, the chassis steering system further comprises N first switches, and the N first switches1To NnThe shaft electric cylinders are in one-to-one correspondence. The first connecting end of each first switch is connected with a power module of the system, the second connecting end of each first switch is connected with the steering controller, and the first connecting end and the second connecting end of each first switch are used for triggering a limitation removing instruction, and the limitation removing instruction is used for removing the locking state of the electric cylinder. Said N is1To NnRotating parts are arranged in the electric cylinders of the shafts and are connected with the motor rotating shaft, so that a user can open the end covers of the electric cylinders and drive the corresponding motor rotating shaft to rotate through adjusting the rotating parts, and the steering wheels corresponding to the electric cylinders are enabled to recover to the zero posture.
Further, the steering controller is provided with N1To NnThe shaft electric cylinder one-to-one redundancy control circuit comprises a first input end, a second input end and an output end. The first input end is connected with the second connecting end of the corresponding first switch; the second input end is connected with the middle phase of the steering controllerThe locking control end of the corresponding electric cylinder is connected and used for releasing the locking state of the corresponding electric cylinder according to the steering control of the corresponding steering wheel; the output end is connected with the electric cylinder driver of the corresponding shaft; and the redundancy control circuit is used for carrying out OR operation on the signal output by the corresponding first switch and the signal output by the locking control end.
Furthermore, the chassis steering system further comprises a second switch, wherein a first connecting end of the second switch is grounded, and a second connecting end of the second switch is connected with the steering controller. The second switch is used for controlling each steering wheel of the vehicle to return to a zero position posture.
Further, the steering controller is further configured to: when the steering function is monitored to be started, N is respectively detected1To NnOperating voltage of electric cylinder driver of shaft when detecting NiWhen the working voltage of the shaft electric cylinder driver is abnormal, controlling N1To NiThe shaft steering wheel maintains a zero-position attitude, wherein i is an integer greater than or equal to 1 and less than or equal to n; and monitoring the bus state corresponding to the angle identification equipment, and controlling the steering angle of each steering wheel to keep a preset safe posture if the angle identification equipment is monitored to have a bus disconnection fault.
Further, when the vehicle is in a non-driving state, the safe posture is a zero-position posture, and when the vehicle is in a driving state, the safe posture is a current posture.
In a second aspect, the embodiments of the present specification provide a safety protection method for a chassis steering system, which is applied to the chassis steering system provided in the first aspect. The method comprises the following steps: steering angle information and N collected respectively by angle recognition device1To NnMonitoring the working state of the shaft electric cylinder driver in an abnormal way; and if the steering angle information is monitored to be abnormal or the working state of any shaft electric cylinder driver is monitored to be abnormal, controlling the steering angle of each steering wheel to keep a preset safe posture, and reporting the abnormal information to a display terminal for displaying, wherein the safe posture is a posture capable of ensuring the steering coordination of each steering wheel.
Further, the method further comprises: when the steering function is monitored to be started, N is respectively detected1To NnOperating voltage of electric cylinder driver of shaft when detecting NiWhen the working voltage of the shaft electric cylinder driver is abnormal, controlling N1To NiThe shaft steering wheel maintains a zero-position attitude, wherein i is an integer greater than or equal to 1 and less than or equal to n; and monitoring the bus state corresponding to the angle identification equipment, and controlling the steering angle of each steering wheel to keep a preset safe posture if the angle identification equipment is monitored to have a bus disconnection fault.
Further, the chassis steering system includes n first switches and one second switch. The method further comprises the following steps: releasing the locking limit of the corresponding electric cylinder in response to a limit releasing instruction triggered by a user through the first switch; and responding to a zero restoration instruction triggered by a user through the second switch, and controlling each steering wheel of the vehicle to restore to a zero posture.
In a third aspect, the embodiment of the present specification provides a safety protection device for a chassis steering system, which is applied to the chassis steering system provided in the first aspect. The device comprises: an anomaly monitoring module for respectively acquiring steering angle information and N collected by the angle recognition device1To NnMonitoring the working state of the shaft electric cylinder driver in an abnormal way; and the protection control module is used for controlling the steering angle of each steering wheel to keep a preset safe posture and reporting the abnormal information to a display terminal for displaying if the steering angle information is monitored to be abnormal or the working state of any shaft electric cylinder driver is monitored to be abnormal, wherein the safe posture is a posture capable of ensuring the steering coordination of each steering wheel.
In the chassis steering system provided in an embodiment of the present specification, the steering angle information acquired by the angle recognition device through the steering controller, and the N1To NnMonitoring the working state of the electric cylinder driver of the shaft abnormally, and if the steering angle information is monitored to be abnormal or the working state of the electric cylinder driver of any shaft is monitored to be differentAnd normally, controlling the steering angle of each steering wheel to keep a preset safe posture. Therefore, the influence of abnormity of the angle recognition equipment and abnormity of the working state of the electric cylinder driver on the running of the chassis can be reduced, the problem that the wheels are not coordinated due to faults of the components and further the vehicle steering component is damaged can be effectively avoided, the problem that the chassis cannot run due to the fact that the wheels are not right due to faults of the components can also be effectively avoided, the safety protection on a chassis steering system is effectively realized, and the reliability of the system is improved. In addition, the monitored abnormal information is displayed by the display terminal, so that a driver can know the abnormal condition of the vehicle steering system in time.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of a chassis steering system provided in a first aspect of an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a redundancy control circuit provided in an embodiment of the present disclosure;
fig. 3 is a flowchart of a security protection method provided in a second aspect of the embodiments of the present disclosure;
fig. 4 is a block diagram of a safety protection device provided in a third aspect of the embodiments of the present disclosure.
Detailed Description
In order to better understand the technical solutions provided by the embodiments of the present specification, the technical solutions of the embodiments of the present specification are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present specification are detailed descriptions of the technical solutions of the embodiments of the present specification, and are not limitations on the technical solutions of the embodiments of the present specification, and the technical features in the embodiments and examples of the present specification may be combined with each other without conflict. In the embodiments of the present specification, the term "plurality" means "two or more", that is, includes two or more.
In a first aspect, the present description provides a chassis steering system, as shown in fig. 1, comprising: steering controller 103, angle recognition device 102, N1To NnElectric cylinder driver of shaft, N1To NnAn axis electric cylinder, and a display terminal 101. It should be noted that the specific number of N is determined according to the number of axles of the multi-axle steering system of the actual vehicle, and only N is shown in fig. 11Axis electric cylinder driver 104 and NnAxis electric cylinder driver 105, and corresponding N1Axis electric cylinder 106 and NnThe shaft electric cylinder 108, and other shaft electric cylinder drivers and other shaft electric cylinders are omitted.
The steering controller 103 is used for steering control of each steered wheel of the vehicle, and specifically, reference may be made to a steering control flow of an existing vehicle, which is not described in detail herein. Further, the steering controller 103 is also configured to separately acquire steering angle information and N for the angle recognition device 1021To NnAnd monitoring the working state of the shaft electric cylinder driver in an abnormal manner, controlling the steering angle of each steering wheel to keep a preset safe posture if the steering angle information is monitored to be abnormal or the working state of any shaft electric cylinder driver is monitored to be abnormal, and reporting the abnormal information to the display terminal 101 for displaying.
In a specific implementation process, the steering controller 103 diagnoses the angle value transmitted by the angle recognition device 102, and if an angle value abnormal fault is confirmed, the angle value abnormal fault is reported to the display terminal 101 for displaying, and the steering angle of each steering wheel is controlled to keep a preset safe posture. For example, an angle value range for normal operation may be preset, and when it is recognized that the angle value transmitted by the angle recognition device 102 is outside the angle value range, it is determined that there is an angle value abnormality fault. Therefore, the influence of faults of the external angle recognition equipment 102 can be reduced, the steering wheel can be forced to keep a safe posture, and the chassis running requirement can be maintained.
In this embodiment, the safe posture is a posture capable of ensuring steering coordination of the steering wheels. It will be appreciated that the safe attitude is the zero position attitude when the vehicle is in the non-driving state and the safe attitude is the current attitude when the vehicle is in the driving state. The zero attitude refers to an attitude at which the steering angle is zero.
In addition, the steering controller 103 may be paired with N through the CAN network 31To NnAnd diagnosing the driving state of the shaft electric cylinder. If the steering controller 103 recognizes N1To NnIf any one of the shaft electric cylinder drivers has a driving state fault, controlling N1To NnThe axle steering wheels maintain the current postures to ensure that the postures of the current steering wheels of all the axles are in an allowable state, and the driving state faults are reported to the display terminal 101 through the CAN network 1 for displaying.
Therefore, the safety protection of the steering system can be realized, when the angle recognition device 102 and the electric cylinder driver have faults, the safe posture of each steering wheel is ensured in time, the problem of wheel incongruity caused by component faults in the using process of the electric cylinder steering system is solved, the problem of damage to a vehicle steering mechanism caused by the incongruity of the steering wheels can be avoided, the problems that the wheels are not correct and the chassis cannot run due to the component faults of the steering system can be effectively solved, and the visual solution of the steering system is provided, so that the visual solution of the steering system is particularly used for the chassis with a longer vehicle body and the tail sweeping condition of the tail part of the chassis caused by the faults of the steering system; the influence caused by the fault of the external angle recognition equipment 102 and the fault of the electric cylinder driver is reduced.
It should be noted that, in the present embodiment, the steering control function and the safety protection function of the steering controller 103 may be separately provided on the two modules, that is, executed by different processors, or may be integrally provided, that is, executed by the same processor.
In an application scenario, a driver CAN select a working mode (same-track steering, diagonal steering and the like) of a steering system through the display terminal 101, the steering system is in the same-track steering state in a default state, and the working mode of the steering system is sent to the steering controller 103 through the CAN network 1; the steering controller 103 uploads the front wheel angle value and N acquired by the angle recognition device 102 through the CAN network 11To NnOperating state of the axial electric cylinder drive, N1To NnOperating state of the shaft steering wheel, N1To NnAnd message information such as the working fault state of the shaft electric cylinder and the like is sent to the display terminal 101. The display terminal 101 can display the information so that the driver can know the working condition of the steering system in time. By providing a chassis attitude monitoring interface, the current working state and fault information of each steering wheel of each shaft are visually displayed, and the visualization of the chassis attitude is realized.
In an alternative embodiment, the steering controller 103 is further configured to: monitoring the bus state corresponding to the angle identification device 102, controlling the steering angle of each steering wheel to keep a preset safe posture if the angle identification device 102 is monitored to have a bus disconnection fault, transmitting fault information to the display terminal 101, and displaying prompt information that the angle identification device 102 has the bus disconnection fault on the display terminal 101. It can be understood that, after the transmission bus of the angle identification device 102 is disconnected, the angle identification device 102 cannot report information any more, and cannot perform fault diagnosis on the angle information any more, and it is necessary to continue monitoring the angle information after the bus disconnection fault is solved.
In an alternative embodiment, the steering controller 103 is further configured to: when the steering function is monitored to be started, N is respectively detected1To NnOperating voltage of electric cylinder drive of shaft when detectingNiWhen the working voltage of the shaft electric cylinder driver is abnormal, controlling N1To NiThe shaft steering wheel maintains a zero attitude and transmits fault information to the display terminal 101. Wherein i is an integer greater than or equal to 1 and less than or equal to n. When the vehicle steering function is started, N1To NnThe electric cylinder drive of the shaft then starts to work. For example, a normal operating voltage range of the electric cylinder driver may be preset, and when the operating voltage of the electric cylinder driver of a certain axis is not within the voltage range, it is determined that the operating voltage of the electric cylinder driver is abnormal. In NiWhen the working voltage of the shaft electric cylinder driver is abnormal, namely the shaft electric cylinder driver cannot work normally, controlling N1To NiThe axle steering wheel is kept in zero position, allowing Ni+1Shaft to NnThe axle directive wheel normally steers, can guarantee that the wheel turns to be harmonious, avoids wherein one or more electric cylinder driver's operating voltage is unusual, leads to the inconsistent problem of wheel turning.
For example, if N is identifiednIf the working voltage of the shaft electric cylinder driver is abnormal, controlling N1To NnThe shaft steering wheel keeps a zero position posture; if N is recognizedn-1If the working voltage of the shaft electric cylinder driver is abnormal, controlling N1～Nn-1Shaft steering wheel maintaining zero attitude, NnAn axle steering wheel allows steering; if N is recognized1Failure of the operating voltage of the shaft electric cylinder driver, then N1Shaft steering wheel maintaining zero attitude, N2～NnAn axle steering wheel allows steering; and the working voltage fault conditions of other electric cylinder drivers are analogized according to the rule.
In an alternative embodiment, the chassis steering system provided in this embodiment further includes N first switches K1 to Kn, where the N first switches and the N first switches are connected to the N first switches1To NnThe shaft electric cylinders are in one-to-one correspondence, and each first switch is used for releasing the locking state of one of the electric cylinders. Specifically, each first switch has a first connection end connected to the power supply module and a second connection end connected to the steering controller 103, and is used to trigger a restriction removal instruction. Release restriction instruction for releasingA locked state of the electric cylinder.
In the automatic steering control process, the n first switches are all in an off state, and the steering control process automatically controls whether each electric cylinder is locked or not. In an application scenario, when N1To NnWhen the shaft electric cylinder driver has an unrecoverable fault, the electric cylinder cannot automatically perform telescopic control through a steering control flow. At this moment, the driver can remove the locking state of each electronic jar through the first switch that switches on each electronic jar corresponds, then unscrew each electronic jar body upper end cover, through the manual adjustment electronic jar of instrument, reduce the influence that automatic control function trouble back went to the chassis.
In one embodiment, N1To NnRotating parts are correspondingly arranged in the electric cylinders of the shafts and connected with the motor rotating shaft, so that after a user opens the end cover 107 of the electric cylinder, the rotating parts can be manually adjusted to drive the corresponding motor rotating shaft to rotate, and the steering wheels corresponding to the electric cylinders are enabled to recover to the zero posture.
Therefore, manual control can be added on the basis of the automatic control function, the mutual redundancy of the automatic control and the manual control is realized, and the reliability of the chassis control system is improved.
In an alternative embodiment, in order to achieve mutual redundancy between automatic control and manual control, N and N are provided in the steering controller 1031To NnAnd the shaft electric cylinders correspond to the redundant control circuits one by one. That is, n redundant control circuits need to be provided for n electric cylinders.
In this embodiment, each redundancy control circuit includes a first input terminal a, a second input terminal b, and an output terminal c. The first input end a is connected with the second connecting end of the corresponding first switch and used for receiving a manual limitation releasing signal. The second input end b is connected with a locking control end of a corresponding electric cylinder in the steering controller 103, the locking control end is used for releasing the locking state of the corresponding electric cylinder according to the steering control of a corresponding steering wheel, namely the second input end b is used for receiving an automatic restriction releasing signal. The output end c is connected with the electric cylinder driver of the corresponding shaft, namely, the electric cylinder limitation removing signal is output. The redundancy control circuit is used for carrying out OR operation on the signal output by the corresponding first switch and the signal output by the locking control end.
That is, the automatic restriction release signal is automatically controlled and outputted by the steering control flow and the manual restriction release signal is controlled and outputted by the K1 to Kn switches for each electric cylinder, and the electric cylinders can release the restriction, that is, release the locked state, when either of the automatic restriction release signal and the manual restriction release signal is activated.
For example, as shown in fig. 2, the first input terminal a may be grounded through a resistor R1 and connected to the output terminal c through a unidirectional conducting device D1 such as a diode, and similarly, the second input terminal b may be grounded through a resistor R2 and connected to the output terminal c through a unidirectional conducting device D2 such as a diode. Of course, in other embodiments of the present invention, the redundancy control circuit may be formed by other circuits, for example, a logic gate circuit may also be implemented.
In an alternative embodiment, the chassis steering system provided in this embodiment further includes a second switch S1A second switch S1The first connection end of the steering wheel is grounded, and the second connection end of the steering wheel is connected with the steering controller 103. A second switch S1And controlling each steering wheel of the vehicle to return to the zero position posture. During automatic steering control, the second switch S1In the off state, when the driver perceives that the angle recognition device 102 has an unrecoverable failure or that the steering of the vehicle has a failure but the cause of the failure cannot be specified temporarily, the second switch S may be turned on1And forcibly restoring each steering wheel to the zero position posture. Therefore, conditions can be provided for the minimum running after the chassis is in fault, and the safety of the chassis steering system of the vehicle is further ensured.
In order to more clearly illustrate the technical solution provided by the present invention, the working principle of the chassis steering system provided by the present invention is described below by taking the embodiment shown in fig. 1 as an example.
The driver sets the operation mode of the steering system through the display terminal 101, for example, the preset operation mode may include the same-track steering and the diagonal steeringThe mode, etc., is transmitted to the steering controller 103 through the CAN network 1. The angle recognition device 102 recognizes the front wheel steering angle and transmits it to the steering controller 103 through the CAN network 2. The steering controller 103 controls the electric cylinder to stretch according to the angle value and the steering mode; the steering controller 103 diagnoses the online state of the bus of the angle recognition device 102, and controls the electric cylinder to work according to the working state of the bus; s may be switched on manually when the driver perceives that the angle recognition device 102 has an unrecoverable failure or that the steering of the vehicle has a failure but the cause of the failure is temporarily not clear1A switch, at which time the steering controller 103 will control the rear set of steered wheels to return to the zero attitude; steering controller 103 diagnostics N1To NnAnd controlling the corresponding electric cylinder to work according to the working state of each shaft electric cylinder driver. The steering controller 103 controls the operation of the electric cylinders of each axis through the CAN network 3.
When the automatic control function of the steering controller 103 fails, the K1-Kn switches can be manually closed, the electric cylinders of all the shafts are released from limitation, the upper end covers of the electric cylinder bodies are manually unscrewed, the electric cylinders are manually rotated until the steering wheels recover the zero-position driving posture, and the lowest driving requirement of the chassis is met.
In the working process of the steering system, the display terminal 101 displays the working state of the steering wheel, the working state of the electric cylinder driver and the fault state information of the steering system in real time.
In summary, the chassis steering system provided by this embodiment controls each steering wheel to maintain a safe posture through fault diagnosis of the angle recognition device and the electric cylinder driver when a fault occurs, so as to realize safe protection of the chassis steering system, improve the reliability of the system, effectively solve the problem of wheel incongruity caused by component faults in the use process of the electric cylinder steering system, and avoid the problem of damage to the vehicle steering mechanism caused by the incongruity of the steering wheels; the problem that the chassis cannot run due to the fact that wheels are not right caused by the failure of a steering system component is effectively solved; the visual solution of the steering system is provided, and particularly, the visual solution plays a positive role in preventing the tail part of the chassis from being swept due to the fault of the steering system on the chassis with a longer vehicle body; an effective control mode is provided, and the influence caused by the fault of the external angle recognition equipment is reduced.
In addition, through setting up first switch and second switch, on automatic steering control's basis, increased manual control, further reduced the influence that the trouble was gone to the chassis, provided more reliable safety guarantee for the system.
In a second aspect, based on the same inventive concept as that of the chassis steering system provided in the foregoing first aspect, an embodiment of the present specification further provides a safety protection method applied to the chassis steering system. As shown in fig. 3, the method may include at least the following steps S301 to S303.
Step S301, steering angle information and N collected by angle recognition equipment are respectively1To NnMonitoring the working state of the shaft electric cylinder driver in an abnormal way;
step S302, if the steering angle information is monitored to be abnormal or the working state of any shaft electric cylinder driver is monitored to be abnormal, the steering angle of each steering wheel is controlled to keep a preset safe posture, and the abnormal information is reported to a display terminal to be displayed.
And the safe posture is a posture capable of ensuring the steering coordination of the steering wheels. It will be appreciated that the safe attitude is the zero position attitude when the vehicle is in the non-driving state and the safe attitude is the current attitude when the vehicle is in the driving state. The zero attitude refers to an attitude at which the steering angle is zero.
Specifically, the specific implementation process of step S301 and step S302 may refer to the corresponding description in the above system embodiment, and is not described herein again.
In an optional embodiment, the method further comprises: and monitoring the bus state corresponding to the angle identification equipment, and controlling the steering angle of each steering wheel to keep a preset safe posture if the angle identification equipment is monitored to have a bus disconnection fault. The specific implementation process may refer to the corresponding description in the above system embodiment, and is not described herein again.
At one kind canIn a selected embodiment, the method further comprises: when the steering function is monitored to be started, N is respectively detected1To NnThe operating voltage of the electric cylinder drive of the shaft; when N is detectediWhen the working voltage of the shaft electric cylinder driver is abnormal, controlling N1To NiThe axle steering wheel maintains a zero attitude. Wherein i is an integer greater than or equal to 1 and less than or equal to n. The specific implementation process may refer to the corresponding description in the above system embodiment, and is not described herein again.
In an alternative embodiment, the chassis steering system includes n first switches, and the specific connection and functions thereof have been described in the above system embodiment, and are not described herein again. At this time, on the basis of the embodiment shown in fig. 3, the security protection method provided by this embodiment further includes: and releasing the locking limit of the corresponding electric cylinder in response to a limit releasing instruction triggered by the first switch by the user. The specific implementation process may refer to the corresponding description in the above system embodiment, and is not described herein again.
In an alternative embodiment, the chassis steering system comprises: the specific connection relationship and functions of the second switch have been described in the above system embodiments, and are not described herein again. At this time, on the basis of the embodiment shown in fig. 3, the security protection method provided by this embodiment further includes: and responding to a zero restoration instruction triggered by a user through the second switch, and controlling each steering wheel of the vehicle to restore to a zero posture. The specific implementation process may refer to the corresponding description in the above system embodiment, and is not described herein again.
It should be noted that, the safety protection method provided by the embodiment of the present specification has the same implementation principle and the same technical effect as the foregoing system embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing system embodiment for the part where the method embodiment is not mentioned.
In a third aspect, based on the same inventive concept as the safety protection method provided in the foregoing second aspect, embodiments of the present specification further provide a safety protection device for the chassis steering system. As shown in fig. 4, the safety device 40 includes:
an anomaly monitoring module 401 for respectively acquiring steering angle information and N collected by the angle recognition device1To NnMonitoring the working state of the shaft electric cylinder driver in an abnormal way;
and the protection control module 402 is configured to control the steering angle of each steering wheel to maintain a preset safe posture if it is monitored that the steering angle information is abnormal or the working state of any one of the electric cylinder drivers is abnormal, and report the abnormal information to the display terminal for display, where the safe posture is a posture capable of ensuring that the steering of each steering wheel is coordinated.
In an optional embodiment, the safety protection device further includes: a voltage monitoring module for respectively detecting N when monitoring that the steering function is started1To NnOperating voltage of electric cylinder driver of shaft when detecting NiWhen the working voltage of the shaft electric cylinder driver is abnormal, controlling N1To NiThe axle steering wheel maintains a null attitude, where i is an integer greater than or equal to 1 and less than or equal to n.
In an alternative embodiment, the safety protection device further comprises: and the bus state monitoring module is used for monitoring the bus state corresponding to the angle identification equipment, and controlling the steering angle of each steering wheel to keep a preset safe posture if the angle identification equipment is monitored to have a bus disconnection fault.
In an alternative embodiment, the chassis steering system includes n first switches, and in this case, the safety protection device further includes:
and the limitation removing module is used for responding to a limitation removing instruction triggered by a user through the first switch and removing the locking limitation of the corresponding electric cylinder.
In an alternative embodiment, the chassis steering system includes a second switch. At this time, the safety protection device further includes: and the reset module is used for responding to a zero position recovery instruction triggered by the user through the second switch and controlling each steering wheel of the vehicle to recover a zero position posture.
It should be noted that, in the security protection apparatus provided in the embodiment of this specification, the specific manner in which each module performs operations has been described in detail in the system embodiment provided in the first aspect, and the specific implementation process may refer to the system embodiment provided in the first aspect, which will not be described in detail here.
In a fourth aspect, based on the same inventive concept as the safety protection method provided in the foregoing second aspect, an embodiment of the present specification further provides a control apparatus, including: memory, one or more processors and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the embodiments of the security protection method as provided in the preceding first aspect when executing the program.
In a fifth aspect, based on the same inventive concept as the safety protection method provided in the foregoing embodiments, the present specification further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of any one of the embodiments of the safety protection method provided in the foregoing second aspect.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While preferred embodiments of the present specification have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all changes and modifications that fall within the scope of the specification.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present specification without departing from the spirit and scope of the specification. Thus, if such modifications and variations of the present specification fall within the scope of the claims of the present specification and their equivalents, the specification is intended to include such modifications and variations.
Claims (9)
1. A chassis steering system, comprising: steering controller, angle recognition device, N1To NnElectric cylinder driver of shaft, N1To NnElectronic jar of axle and display terminal, wherein:
the angle recognition device, N1To NnThe shaft electric cylinder driver and the display terminal are connected with the steering controller;
the steering controller is used for steering control of each steering wheel of the vehicle and respectively carrying out steering angle information acquired by the angle identification equipment and the steering angle N1To NnMonitoring the working state of the electric cylinder driver of each shaft abnormally, controlling the steering angle of each steering wheel to keep a preset safe posture if the steering angle information is monitored to be abnormal or the working state of any electric cylinder driver of each shaft is monitored to be abnormal, and reporting the abnormal information to a display terminal for displaying, wherein the safe posture is a posture capable of ensuring the steering coordination of each steering wheel;
the system further includes N first switches, the N first switches and the N1To NnThe shaft electric cylinders are in one-to-one correspondence,
the first connecting end of each first switch is connected with a power module of the system, the second connecting end of each first switch is connected with the steering controller, and the first connecting end and the second connecting end of each first switch are used for triggering a limitation removing instruction, and the limitation removing instruction is used for removing the locking state of the electric cylinder;
said N is1To NnRotating parts are arranged in the electric cylinders of the shafts and are connected with the motor rotating shaft, so that a user can open the end covers of the electric cylinders and drive the corresponding motor rotating shaft to rotate through adjusting the rotating parts, and the steering wheels corresponding to the electric cylinders are enabled to recover to the zero posture.
2. The system of claim 1, wherein the steering controller is configured to communicate with the N1To NnShaft electric cylinderThe redundancy control circuits correspond to one another, and each redundancy control circuit comprises a first input end, a second input end and an output end; wherein the content of the first and second substances,
the first input end is connected with the second connecting end of the corresponding first switch;
the second input end is connected with a locking control end of a corresponding electric cylinder in the steering controller, and the locking control end is used for releasing the locking state of the corresponding electric cylinder according to the steering control of a corresponding steering wheel;
the output end is connected with the electric cylinder driver of the corresponding shaft;
and the redundancy control circuit is used for carrying out OR operation on the signal output by the corresponding first switch and the signal output by the locking control end.
3. The system of claim 1, further comprising a second switch having a first connection connected to ground and a second connection connected to the steering controller;
the second switch is used for controlling each steering wheel of the vehicle to return to a zero position posture.
4. The system of claim 1, wherein the steering controller is further configured to:
when the steering function is monitored to be started, N is respectively detected1To NnOperating voltage of electric cylinder driver of shaft when detecting NiWhen the working voltage of the shaft electric cylinder driver is abnormal, controlling N1To NiThe shaft steering wheel maintains a zero-position attitude, wherein i is an integer greater than or equal to 1 and less than or equal to n;
and monitoring the bus state corresponding to the angle identification equipment, and controlling the steering angle of each steering wheel to keep a preset safe posture if the angle identification equipment is monitored to have a bus disconnection fault.
5. The system of claim 1, wherein the safe attitude is a zero attitude when the vehicle is in a non-driving state and a current attitude when the vehicle is in a driving state.
6. A safety protection method for a chassis steering system, characterized by being applied to the chassis steering system according to any one of claims 1 to 5, the method comprising:
steering angle information and N collected respectively by angle recognition device1To NnMonitoring the working state of the shaft electric cylinder driver in an abnormal way;
and if the steering angle information is monitored to be abnormal or the working state of any shaft electric cylinder driver is monitored to be abnormal, controlling the steering angle of each steering wheel to keep a preset safe posture, and reporting the abnormal information to a display terminal for displaying, wherein the safe posture is a posture capable of ensuring the steering coordination of each steering wheel.
7. The method of claim 6, further comprising:
when the steering function is monitored to be started, N is respectively detected1To NnOperating voltage of electric cylinder driver of shaft when detecting NiWhen the working voltage of the shaft electric cylinder driver is abnormal, controlling N1To NiThe shaft steering wheel maintains a zero-position attitude, wherein i is an integer greater than or equal to 1 and less than or equal to n;
and monitoring the bus state corresponding to the angle identification equipment, and controlling the steering angle of each steering wheel to keep a preset safe posture if the angle identification equipment is monitored to have a bus disconnection fault.
8. The method of claim 6, wherein the system includes n first switches and one second switch, the method further comprising:
releasing the locking limit of the corresponding electric cylinder in response to a limit releasing instruction triggered by a user through the first switch;
and responding to a zero restoration instruction triggered by a user through the second switch, and controlling each steering wheel of the vehicle to restore to a zero posture.
9. A safety protection device for a chassis steering system, characterized in that it is applied to the chassis steering system according to any one of claims 1 to 5, said device comprising:
an anomaly monitoring module for respectively acquiring steering angle information and N collected by the angle recognition device1Monitoring the working state of the Nn-axis electric cylinder driver in an abnormal mode;
and the protection control module is used for controlling the steering angle of each steering wheel to keep a preset safe posture and reporting the abnormal information to a display terminal for displaying if the steering angle information is monitored to be abnormal or the working state of any shaft electric cylinder driver is monitored to be abnormal, wherein the safe posture is a posture capable of ensuring the steering coordination of each steering wheel.
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| CN202011460430.3A CN112498475B (en) | 2020-12-11 | 2020-12-11 | Chassis steering system, safety protection method and device |
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| CN202011460430.3A CN112498475B (en) | 2020-12-11 | 2020-12-11 | Chassis steering system, safety protection method and device |
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