CN114056423A - Vehicle steering control system, vehicle and vehicle steering control method - Google Patents
Vehicle steering control system, vehicle and vehicle steering control method Download PDFInfo
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- CN114056423A CN114056423A CN202010773366.8A CN202010773366A CN114056423A CN 114056423 A CN114056423 A CN 114056423A CN 202010773366 A CN202010773366 A CN 202010773366A CN 114056423 A CN114056423 A CN 114056423A
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- steering
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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
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a vehicle steering control system, a vehicle and a vehicle steering control method, wherein the steering control system comprises: first angle detection means for acquiring a steering intention of a driver; vehicle speed detection means for detecting a current vehicle speed; the rear axle steering power assembly is respectively connected with the first angle detection device and the vehicle speed detection device, and calculates the rotation angle of a rear axle according to the steering intention of the driver and the current vehicle speed; the rear shaft steering device is connected with the rear shaft steering power assembly, and the rear shaft steering power assembly controls the rear shaft steering device according to the rotation angle of the rear shaft so as to drive the rear wheel to steer. According to the vehicle steering control system disclosed by the embodiment of the invention, the active steering control of the rear wheels can be realized, so that the turning radius and the tire wear are reduced, and the vehicle steering control system has the advantages of simple structure, high accuracy and the like.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle steering control system, a vehicle with the vehicle steering control system and a vehicle steering control method.
Background
In a vehicle in the related art, a steering control system usually adopts front axle steering, specifically, when a driver needs to change the direction, a steering wheel is rotated, and a motor controller controls a three-phase alternating current motor to rotate to drive an oil pump to rotate, the oil pump rotates to establish oil pressure in a pipeline, steering assistance is provided through a steering gear to assist the driver to complete steering, and a rear wheel follows under the action of physical connecting force. The steering control system for steering the front wheels has large turning radius, large tire abrasion and poorer control stability, and is particularly suitable for vehicles with larger length, such as electric motor coaches, articulated vehicles and the like.
Therefore, some vehicles are provided with the four-wheel steering control system, the front axle and the rear axle are connected in a physical and mechanical mode, and therefore the rear wheels rotate in a coordinated mode, but the four-wheel steering control system is multiple and long in pipelines, complex in structure and high in requirements for the valve body, meanwhile, the leakage risk of oil quantity is increased, and due to the fact that the rear wheels only rotate in a coordinated mode, accuracy is poor.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a vehicle steering control system, which can realize active steering control of rear wheels, thereby reducing turning radius and tire wear, and has the advantages of simple structure, high accuracy, and the like.
The invention also provides a vehicle with the vehicle steering control system.
The invention further provides a vehicle steering control method.
To achieve the above object, an embodiment according to a first aspect of the present invention proposes a vehicle steering control system including: first angle detection means for acquiring a steering intention of a driver; vehicle speed detection means for detecting a current vehicle speed; the rear axle steering power assembly is respectively connected with the first angle detection device and the vehicle speed detection device, and calculates the rotation angle of a rear axle according to the steering intention of the driver and the current vehicle speed; the rear shaft steering device is connected with the rear shaft steering power assembly, and the rear shaft steering power assembly controls the rear shaft steering device according to the rotation angle of the rear shaft so as to drive the rear wheel to steer.
According to the vehicle steering control system disclosed by the embodiment of the invention, the active steering control of the rear wheels can be realized, so that the turning radius and the tire wear are reduced, and the vehicle steering control system has the advantages of simple structure, high accuracy and the like.
According to some embodiments of the present invention, the first angle detection means is provided to a steering shaft connected to a steering wheel to obtain the driver's steering intention by detecting a turning angle of the steering shaft; or the first angle detection device is arranged on a hinged disc between the front carriage frame and the rear carriage frame so as to obtain the steering intention of the driver by detecting the rotation angle of the hinged disc.
According to some specific embodiments of the present invention, the vehicle steering control system further comprises: a centering switch; the centering switch controller is respectively connected with the centering switch and the rear shaft steering power assembly, the centering switch controller is used for collecting centering signals of the centering switch and sending the centering signals to the rear shaft steering power assembly, and the rear shaft steering power assembly controls the rear shaft steering gear to drive the rear wheel to be centered according to the centering signals.
According to some specific embodiments of the present invention, the vehicle steering control system further comprises: and the second angle detection device is connected with the rear shaft steering power assembly and is used for verifying whether the detection value of the first angle detection device is accurate or not.
According to some specific embodiments of the present invention, the vehicle steering control system further comprises: and the wheel speed detection device is connected with the rear axle steering power assembly and is used for verifying whether the detection value of the vehicle speed detection device is accurate or not by detecting the current wheel speed.
According to some specific embodiments of the present invention, the rear steering power assembly includes: the oil tank is connected with the rear axle steering gear; the oil pump is respectively connected with the oil tank and the rear axle steering gear; the motor is connected with the oil pump and drives the oil pump to rotate positively and negatively through the positive and negative rotation of the motor; and the motor controller is respectively connected with the first angle detection device, the vehicle speed detection device, the wheel speed detection device and the motor.
Further, the rear axle steering device includes: the piston comprises a shell, wherein a piston cavity is arranged in the shell; the piston is movably arranged in the piston cavity and divides the piston cavity into a first cavity and a second cavity, the first cavity is connected with the oil pump through a first oil inlet path, and the second cavity is connected with the oil pump through a second oil inlet path; the push rod is connected to the piston and moves along with the piston; the oil return valve is connected with the piston cavity, the joint of the oil return valve and the piston cavity corresponds to the middle position of the piston, and the oil return valve is connected with the oil tank through an oil return path; the first control valve is connected between the first oil inlet channel and the oil return channel; the second control valve is connected between the second oil inlet channel and the oil return channel; the switching valve is provided with a first inlet, a second inlet and an outlet, the first inlet is respectively connected with the first oil inlet path and the second control valve, the second inlet is respectively connected with the second oil inlet path and the first control valve, and the outlet is connected with the oil return valve.
Further, the rear axle steering device further includes: the first overflow valve is connected between the first oil inlet path and the oil return path; and the second overflow valve is connected between the second oil inlet path and the oil return path.
According to some specific embodiments of the invention, the rear axle steering further comprises: the first check valve is arranged on the first oil inlet path; and the second one-way valve is arranged on the second oil inlet path.
According to some specific embodiments of the invention, the rear axle steering further comprises: and the stroke detection device is connected with the motor controller and is used for detecting the moving stroke of the piston.
According to some specific embodiments of the present invention, the vehicle steering control system further comprises: the front axle steering gear is connected with the steering wheel; the front-shaft steering oil pump is connected with the front-shaft steering gear; the front-axle steering controller is connected with the front-axle steering oil pump.
An embodiment according to a second aspect of the invention proposes a vehicle comprising a vehicle steering control system according to an embodiment of the first aspect of the invention.
According to the vehicle provided by the embodiment of the invention, by utilizing the vehicle steering control system provided by the embodiment of the first aspect of the invention, the active steering control of the rear wheels can be realized, so that the turning radius and the tire wear are reduced, and the vehicle has the advantages of simple structure, high accuracy and the like.
An embodiment according to a third aspect of the invention proposes a vehicle steering control method including: acquiring a steering intention of a driver; detecting the current vehicle speed; calculating the rotation angle of a rear axle according to the steering intention of the driver and the current vehicle speed; and driving the rear wheels to steer according to the rotation angle of the rear shaft.
According to the vehicle steering control method provided by the embodiment of the invention, the active steering control of the rear wheels can be realized, so that the turning radius and the tire wear are reduced, the structure can be simplified, and the accuracy can be improved.
According to some embodiments of the invention, the rear wheel is hydraulically driven to steer according to a turning angle of the rear axle.
According to some specific embodiments of the present invention, the steering intention of the driver is obtained by detecting a rotation angle of a steering wheel; or the steering intention of the driver is obtained by detecting the rotation angle of a hinged disc between the front carriage frame and the rear carriage frame.
The vehicle steering control method according to the embodiment of the invention further includes: detecting whether a centering signal is received; if so, the rear wheel is driven to be centered.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic configuration diagram of a vehicle steering control system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a rear axle steering powertrain of the vehicle steering control system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a rear axle steering gear of the vehicle steering control system according to the embodiment of the invention;
FIG. 4 is a schematic configuration diagram of a vehicle steering control system according to another embodiment of the present invention;
fig. 5 is a flowchart of a vehicle steering control method according to an embodiment of the invention.
Reference numerals:
a vehicle steering control system 1, a steering wheel 10, an articulated disc 11, a front carriage frame 12, a rear carriage frame 13,
A first angle detection device 100,
Vehicle speed detection device 200,
A rear axle steering power assembly 300, an oil tank 310, an oil pump 320, a motor 330, a motor controller 340,
Rear axle steering gear 400, housing 410, piston 420, piston cavity 411, first chamber 412, second chamber 413,
A first inlet 471, a second inlet 472, an outlet 473, a first relief valve 481, a second relief valve 482,
A first check valve 491, a second check valve 492, a first oil feed passage 401, a second oil feed passage 402, a first check valve, a second check valve, a third check valve, a fourth check valve, a fifth check valve, a sixth check valve, a fourth check valve, a fifth check valve, a sixth check valve, a fourth check valve, a sixth check valve, a fourth,
An oil return path 403, a stroke detection device 404,
A centering switch 500, a centering switch controller 600, a second angle detection device 700,
Wheel speed detection device 800, front axle steering gear 901, front axle steering oil pump 902, front axle steering controller 903.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present invention, "a plurality" means two or more, and "several" means one or more.
A vehicle steering control system 1 according to an embodiment of the invention is described below with reference to the drawings.
As shown in fig. 1, a vehicle steering control system 1 according to an embodiment of the present invention includes a first angle detection device 100, a vehicle speed detection device 200, a rear-axle steering power train 300, and a rear-axle steering gear 400.
The first angle detection device 100 is used to acquire the steering intention of the driver. The vehicle speed detection device 200 is used to detect the current vehicle speed. The rear-axle steering power assembly 300 is connected to the first angle detecting means 100 and the vehicle speed detecting means 200, respectively, and the rear-axle steering power assembly 300 calculates the rotation angle of the rear axle according to the steering intention of the driver and the current vehicle speed. Rear-shaft steering gear 400 is connected to rear-shaft steering power assembly 300, and rear-shaft steering power assembly 300 controls rear-shaft steering gear 400 to steer the rear wheels according to the rotation angle of the rear shaft.
Specifically, when the driver operates the steering wheel 10 to rotate, the first angle detection device 100 first obtains the steering intention of the driver, then the current vehicle speed is detected by the vehicle speed detection device 200, the rear axle steering powertrain 300 calculates the rotation angle of the rear axle, and the rear axle steering 400 provides power-assisted steering.
For example, the first angle detection device 100 and the vehicle speed detection device 200 are respectively connected to the rear-axle steering power assembly 300 through can (controller area network) lines, and send the steering intention of the driver and the current vehicle speed to the rear-axle steering power assembly 300 in a message form, and the first angle detection device 100 may be a rotation angle sensor. The rear axle steering power assembly 300 is connected to be powered by a power line and has an oil line connection, a hard line connection and a CAN line connection with the rear axle steering unit 400, respectively, and it is understood that the hard line connection does not mean the hardness of a cable but means the hardness relative to the communication mode, and transmits hard line signals, such as high and low levels. The rear steering powertrain 300 calculates an angle at which the rear axle needs to be rotated according to the received steering intention of the driver and the current vehicle speed information, and the rear steering powertrain 300 controls the rear steering gear 400 according to the calculated rotation angle of the rear axle.
According to the vehicle steering control system 1 of the embodiment of the invention, by arranging the first angle detection device 100, the vehicle speed detection device 200, the rear-axle steering powertrain 300 and the rear-axle steering gear 400, the steering of the rear wheels can be actively controlled according to the steering intention of the driver and the current vehicle speed, so that the steering radius of the vehicle and the wear of the tires of the rear wheels are reduced, and the steering stability is improved.
And, vehicle steering control system 1 realizes the active control of rear wheel steering through the signal of telecommunication according to driver's the intention of turning to and current speed of a motor vehicle, and the cooperation that is different from the rear wheel among the correlation technique turns to, and control accuracy is higher, and can save a large amount of pipelines between rear axle and the front axle, and the structure is simpler, has lightened vehicle weight, has reduced the requirement to arranging the position, and has eliminated the hidden danger that requires highly and increase the oil mass and reveal to the valve body.
Therefore, according to the vehicle steering control system 1 of the embodiment of the invention, the active steering control of the rear wheels can be realized, so that the turning radius and the tire wear are reduced, and the vehicle steering control system has the advantages of simple structure, high accuracy and the like.
In some embodiments of the present invention, as shown in fig. 1, the first angle detecting device 100 is provided to a steering shaft connected to the steering wheel 10, for example, the first angle detecting device 100 is connected to the steering shaft of the steering wheel 10 through a mechanical line to obtain a steering intention of the driver by detecting a turning angle of the steering shaft, and is transmitted through a CAN signal. When a driver operates the steering wheel 10, the rotation angle of the steering shaft can be obtained by the first angle detection device 100, and the first angle detection device 100 realizes active following steering control of the rear wheels according to the steering and the angle of the steering shaft.
In other embodiments of the present invention, when the vehicle steering control system 1 is applied to an articulated vehicle, as shown in fig. 4, since the articulated disc 11 connects the front and rear compartments of the vehicle, and there is a certain relative rotation angle between the front and rear compartments, and the rotation angle of the steering wheel 10 does not represent the real intention of the driver at this time, the first angle detecting device 100 is disposed on the articulated disc 11 between the front compartment frame 12 and the rear compartment frame 13, and the first angle detecting device 100 obtains the steering intention of the driver by detecting the rotation angle of the articulated disc 11, so as to accurately obtain the real steering intention of the driver on the articulated vehicle.
In some embodiments of the present invention, as shown in fig. 1 and 4, the vehicle steering control system 1 further includes a centering switch 500 and a centering switch controller 600, the centering switch controller 600 is respectively connected to the centering switch 500 and the rear-axle steering powertrain 300, the centering switch controller 600 is configured to collect a centering signal of the centering switch 500 and send the centering signal to the rear-axle steering powertrain 300, and the rear-axle steering powertrain 300 controls the rear-axle steering 400 to center the rear wheels according to the centering signal, where the rear wheels face the front of the vehicle, that is, the axial direction of the rear wheels is parallel to the width direction of the vehicle body.
For example, the central switch controller 600 and the central switch 500 may be connected by hard wires, and the central switch controller 600 and the rear steer powertrain 300 may be connected by CAN wires. The switch 500 placed in the middle can be a self-locking rocker switch, the internal circuit of the switch 500 placed in the middle is one-in one-out, one end is connected with the vehicle body ground, and the other end is connected with the controller 600 placed in the middle. The centering switch controller 600 is coupled to the centering switch 500 and the rear axle steering powertrain 300, respectively. When the centering switch 500 is pressed, the interior of the centering switch 500 is turned on, the centering switch controller 600 collects a low level signal, and sends the signal to the rear axle steering power assembly 300 in a message form through the CAN line, and the rear axle steering power assembly 300 controls the rear axle steering gear 400 to center the rear wheel after receiving the signal. When the centering switch 500 is reset, the internal circuit of the centering switch 500 is disconnected, and after the centering switch controller 600 receives the suspension signal, the signal is sent to the rear axle steering power assembly 300 in a message form through the CAN line, so that the centering of the rear wheel is cancelled.
From this, vehicle steering control system 1 can control the rear wheel and center, under some operating modes, when the vehicle gets into the station, through controlling switch 500 in the middle, realizes that the vehicle rear wheel is centered to can initiatively center the position when the vehicle rear wheel does not directly have the space to travel again.
In some embodiments of the present invention, as shown in fig. 1 and 4, the vehicle steering control system 1 further includes a second angle detection device 700.
The second angle detecting device 700 is connected to the rear-axle steering power assembly 300, for example, by a CAN line, and the second angle detecting device 700 is disposed at the same position as the first angle detecting device 100, for example, the second angle detecting device 700 is disposed at a steering axle connected to the steering wheel 10, or the hinge plate 11 disposed between the front car frame 12 and the rear car frame 13, for checking whether the detection value of the first angle detecting device 100 is accurate.
For example, when the first angle detection device 100 accurately obtains the steering intention of the driver, the second angle detection device 700 verifies that the detection value of the first angle detection device 100 is correct, and sends the detection result of the first angle detection device 100 to the rear-axle steering power assembly 300 through the CAN line. When the first angle detection device 100 does not accurately acquire the steering intention of the driver and the second angle detection device 700 checks that the detection value of the first angle detection device 100 is wrong, the first angle detection device 100 and the second angle detection device 700 jointly determine that: and acquiring the steering intention of the driver, judging that the driver does not steer, waiting for the response of the next angle signal detection value, and sending the response to the rear axle active steering power assembly, namely abandoning the active control of the rear wheel steering.
The specific verification method may be to calculate a difference between the detection value of the first angle detection device 100 and the detection value of the second angle detection device 700, determine that the detection value of the first angle detection device 100 is accurate if the difference is within an allowable range, and determine that the detection value of the first angle detection device 100 is inaccurate if the difference is outside the allowable range.
Therefore, whether the detection value of the first angle detection device 100 is accurate or not is checked through the second angle detection device 700, the accuracy of obtaining the steering intention of the driver is improved, and therefore when the detection value of the first angle detection device 100 is inaccurate, active control of steering of the next rear wheel can be given up, the vehicle turns by driving the front wheel to turn at the moment, and the reliability is further improved.
In some embodiments of the present invention, as shown in fig. 1 and 4, the vehicle steering control system 1 further includes a wheel speed detection device 800.
The wheel speed detection device 800 is connected to the rear axle steering assembly 300, for example, by a CAN line, and the wheel speed detection device 800 is configured to check whether a detection value of the vehicle speed detection device 200 is accurate by detecting a current wheel speed, for example, the wheel speed detection device 800 may be a wheel speed sensor configured to detect wheel speeds of four wheels and convert the wheel speeds into a vehicle speed.
For example, when the wheel speed detection device 800 verifies that the vehicle speed detection device 200 is accurate, it sends the vehicle speed to the rear-axle steering powertrain 300 according to the current vehicle speed. When the wheel speed detection device 800 checks that the vehicle speed detection device 200 is inaccurate, the active control of the current rear wheel steering is abandoned, and the next vehicle speed detection response is waited, or the active steering of the rear wheel is controlled by a specific strategy.
The specific verification method may be to convert the detection value of the wheel speed detection device 800 into a vehicle speed, and calculate a difference between the vehicle speed and the detection value of the vehicle speed detection device 200, and if the difference is within an allowable range, it is determined that the detection value of the vehicle speed detection device 200 is accurate, and if the difference is outside the allowable range, it is determined that the detection value of the vehicle speed detection device 200 is inaccurate.
Therefore, whether the detection value of the vehicle speed detection device 200 is accurate or not is checked through the wheel speed detection device 800, the accuracy of current vehicle speed detection is improved, and therefore when the detection value of the vehicle speed detection device 200 is inaccurate, active control of current rear wheel steering can be abandoned, the vehicle drives the vehicle to turn through front wheel steering at the moment, the reliability is further improved, or the rear wheel is controlled to actively steer through a specific strategy.
In some embodiments of the present invention, as shown in fig. 2, the rear axle steering powertrain 300 includes a fuel tank 310, a fuel pump 320, a motor 330, and a motor controller 340.
The oil tank 310 is connected to the rear axle steering gear 400. The oil pump 320 is connected to the oil tank 310 and the rear axle steering unit 400, respectively. The motor 330 is connected with the oil pump 320, and the motor 330 drives the oil pump 320 to rotate forward and backward through the forward and backward rotation of the motor. The motor controller 340 is connected to the first angle detecting device 100, the second angle detecting device 700, the vehicle speed detecting device 200, the wheel speed detecting device 800, and the motor 330, respectively.
For example, the motor controller 340 is hard-wired to the motor 330, the oil pump 320 is mechanically connected to the motor 330, and the oil tank 310, the oil pump 320, and the rear axle steering unit 400 are connected by oil passages. After receiving the signals sent by the first angle detection device 100, the second angle detection device 700, the vehicle speed detection device 200, and the wheel speed detection device 800, the motor controller 340 drives the oil pump 320 to rotate forward and backward through the motor 330, so as to provide pressure oil in different directions for the rear axle steering gear 400, thereby achieving the effect of controlling the steering of the rear axle.
In this manner, rear axle steering powertrain 300 provides control and a source of power for active steering of the rear wheels.
In some embodiments of the present invention, as shown in fig. 3, the rear axle steering gear 400 includes a housing 410, a piston 420, a push rod 430, a return valve 440, a first control valve 450, a second control valve 460, and a switching valve 470.
A piston chamber 411 is provided in the housing 410. The piston 420 is movably disposed in the piston chamber 411 and divides the piston chamber 411 into a first chamber 412 and a second chamber 413, the first chamber 412 is connected to the oil pump 320 through the first oil inlet path 401, and the second chamber 413 is connected to the oil pump 320 through the second oil inlet path 402. The push rod 430 is connected to the piston 420 and moves with the piston 420. The return valve 440 is connected to the piston chamber 411 at a position corresponding to the neutral position of the piston 420, and the return valve 440 is connected to the oil tank 310 via the return line 403. It should be understood that the neutral position of the piston 420 means that the piston 420 is located in the piston chamber 411 when the pressures on the two sides of the piston 420 are balanced (i.e. when the pressures of the first chamber 412 and the second chamber 413 are balanced), i.e. the neutral position.
The first control valve 450 is connected between the first oil supply passage 401 and the oil return passage 403. The second control valve 460 is connected between the second inlet line 402 and the return line 403, and the connection node of the first control valve 450 to the return line 403 and the connection node of the second control valve 460 to the return line 403 are both located between the return valve 440 and the oil tank 310. The switching valve 470 has a first inlet 471, a second inlet 472, and an outlet 473, the first inlet 471 being connected to the first oil supply path 401 and the second control valve 460, respectively, the second inlet 472 being connected to the second oil supply path 402 and the first control valve 450, respectively, and the outlet 473 being connected to the oil return valve 440.
For example, as shown in fig. 3, the first oil inlet passage 401, the second oil inlet passage 402, the oil return passage 403, the first control valve 450 and the second control valve 460 are connected by oil passages, and the switching valve 470 is connected with the first oil inlet passage 401, the second control valve 460, the second oil inlet passage 402, the first control valve 450 and the oil return valve 440 by oil passage control lines, where it is understood that pressure oil may flow in the oil passage control lines, and functions to control the opening and closing of the valve body by the pressure oil in the oil passage control lines, such as controlling the opening and closing of the first inlet 471, the second inlet 472 and the outlet 473 of the switching valve 470 and the opening and closing of the oil return valve 440.
The first control valve 450 and the second control valve 460 may be two-position four-way valves, the return valve 440 may be a two-position four-way valve with pressure reduction function, and the switching valve 470 may be a double-inlet single-outlet switching valve with one-way conduction function.
The operation of the rear axle steering gear 400 will now be described by way of example.
The oil pump 320 is driven by the motor 330 to rotate in the forward and reverse directions, so as to control whether the pressure oil in the oil tank 310 enters the rear-shaft steering gear 400 from the first oil inlet path 401 or enters the rear-shaft steering gear 400 from the second oil inlet path 402.
When the pressure oil enters from the first oil inlet path 401, a part of the pressure oil enters the first chamber 412, a part of the pressure oil flows to the first inlet 471 of the switching valve 470 through an oil path control line, the switching valve 470 is controlled to open the first inlet 471, close the second inlet 472, open the outlet 473, the pressure oil flows out from the outlet 473, enters the oil return valve 440, and close the oil return valve 440, so that the pressure oil cannot directly return to the oil tank 310 from the oil return path 403. Opening the second control valve 460 causes the pressure of the pressurized oil in the second chamber 413 to be increased due to the pressurized oil flowing into the first chamber 412, and the pressurized oil in the second chamber 403 is returned to the oil tank 310 through the second control valve 460. At this time, the pressure oil in the oil tank 310 enters the first chamber 412, and the pressure oil in the second chamber 413 flows back to the oil tank 310, the pressure in the first chamber 412 is higher than that in the second chamber 413, so as to push the piston 420 to move towards the second chamber 413, the movement of the piston 420 drives the push rod 430 to move, and the push rod 430 is directly or indirectly connected with the rear shaft, so as to push the rear shaft to rotate.
Correspondingly, when the push rod 430 needs to move in the opposite direction, the pressure oil enters from the second oil inlet path 402, a part of the pressure oil enters into the second chamber 413, a part of the pressure oil flows to the second inlet 472 of the switching valve 470 through the oil path control line, the switching valve 470 is controlled to open the second inlet 472, close the first inlet 471, and the pressure oil flows out from the outlet 473 to enter the oil return valve 440 through the oil path in the pressure control housing 410, and closes the oil return valve 440, so that the pressure oil cannot directly return to the oil tank 310 from the oil return path 403. Opening the first control valve 450 causes the pressure of the pressurized oil in the first chamber 412 to increase due to the pressurized oil flowing into the second chamber 413, which causes the pressurized oil in the first chamber 412 to return to the oil tank 310 via the first control valve 450 via the return line 403. At this time, the pressure oil in the oil tank 310 enters the second chamber 413, and the pressure oil in the first chamber 412 flows back to the oil tank 310, since the pressure in the second chamber 413 is higher than that in the first chamber 412, the piston 420 is pushed to move towards the first chamber 412, the movement of the piston 420 drives the push rod 430 to move, and the push rod 430 is directly or indirectly connected with the rear shaft, so as to push the rear shaft to turn.
In addition, because the oil return valve 440 is connected with the piston chamber 411 and the connection position of the two corresponds to the neutral position of the piston 420, when the system is abnormal and can not provide pressure oil, the oil return valve 440 can keep a normal open position, the pressure oil in a pressure chamber with high pressure can return to the oil tank 310 through the oil return valve 440, and the piston 420 is pushed to the neutral position under the aligning force of the rear wheels of the vehicle, so that the vehicle is ensured to be in the neutral position. Meanwhile, when the system is protected, the oil return valve 440 also keeps a normally open position, so that the return force of the rear wheel counteracts the movement of the piston 420, and the pressure oil directly returns to the oil tank 310 from the oil return valve 440, thereby realizing the centering of the position and ensuring the safety of the vehicle.
Further, as shown in fig. 3, the rear shaft steering gear 400 further includes a first relief valve 481 and a second relief valve 482. The first relief valve 481 is connected between the first oil inlet passage 401 and the oil return passage 403. The second relief valve 482 is connected between the second oil inlet passage 402 and the oil return passage 403, and the connection node between the first relief valve 481 and the oil return passage 403 and the connection node between the second relief valve 482 and the oil return passage 403 are both located between the oil return valve 440 and the oil tank 310.
When the pressure of the oil in the first chamber 412 becomes too high, the pressure of the oil can be returned from the oil return path 403 to the oil tank 310 by opening the first relief valve 481 to release the pressure. When the pressure oil in the second chamber 413 becomes too high, the pressure oil can be returned from the oil return passage 403 to the oil tank 310 by opening the second relief valve 482 to be relieved.
In some embodiments of the present invention, as shown in FIG. 3, the rear axle steering gear 400 further includes a first one-way valve 491 and a second one-way valve 492.
The first check valve 491 is disposed on the first oil inlet path 401 to control the one-way conduction of the first oil inlet path 401, and the second check valve 492 is disposed on the second oil inlet path 402 to control the one-way conduction of the second oil inlet path 402. Thus, the pressure oil in the oil tank 310 can only flow to the rear axle steering gear 400 through the first oil inlet passage 401 and the second oil inlet passage 402, and the pressure oil is prevented from flowing backwards, thereby further improving the accuracy of the active control of the rear axle steering.
In some embodiments of the present invention, as shown in FIG. 3, the rear axle steering gear 400 further includes a travel sensing device 404. The stroke detecting means 404 is connected to the motor controller 340 for detecting the moving stroke of the piston 420.
The stroke detection device 404 may be a piston stroke position sensor, the stroke position of the piston 420 is detected by the rear-axle steering powertrain 300 through a hard wire, the stroke detection device 404 can detect the stroke of the piston 420 in real time, the rear-axle steering powertrain 300 compares the detection value of the stroke detection device 404 with the target position of the piston 420 to ensure that the current position of the piston 420 reaches the target position, and the current position of the piston 420 is maintained after the current position of the piston 420 reaches the target position, thereby improving the accuracy of the rear-axle steering control.
In some embodiments of the present invention, as shown in fig. 1 and 4, the vehicle steering control system 1 further includes a front steering gear 901, a front steering oil pump 902, and a front steering controller 903.
The front steering gear 901 is connected to the steering wheel 10. The front axle steering oil pump 902 is connected to the front axle steering gear 901. Front axle steering controller 903 is connected to front axle steering oil pump 902.
Wherein steering wheel 10 is connected to front-axle steering gear 901 via a mechanical connection. Front axle steering gear 901 and front axle steering oil pump 902, and front axle steering controller 903 and front axle steering oil pump 902 are connected by oil passages.
When the driver needs to change the direction, the steering wheel 10 is turned, and the front-shaft steering gear 901, the front-shaft steering oil pump 902, and the front-shaft steering controller 903 cooperate with each other to realize active control of front-wheel steering. Thus, the vehicle steering control system 1 can realize active control of front wheel steering and active control of rear wheel steering.
The specific process of the front wheel steering active control is known to those skilled in the art and will not be described herein.
The following describes the operation of the vehicle steering control system 1 according to the embodiment of the invention by way of example.
When the driver operates the steering wheel 10 to rotate, the front axle steering gear 901 is driven by the steering shaft, and the front axle steering gear 901 provides power to assist steering. After the first angle detecting device 100 mounted on the steering shaft measures the rotation angle of the steering wheel 10, the rotation angle is sent to the rear-shaft steering power assembly 300 in the form of a message through the CAN line, and the speed measured by the vehicle speed detecting device 200 is also sent to the rear-shaft steering power assembly 300 in the form of a message through the CAN line. The rear axle steering power assembly 300 calculates the angle of the rear axle required to rotate and the position of the rear axle steering gear 400 required to move according to the received steering wheel angle and the current vehicle speed, then the rear axle steering power assembly 300 controls the motor 330 to rotate to drive the oil pump 320 to rotate, the rear axle steering oil pressure is established, the piston 420 in the rear axle steering gear 400 is pushed to move to the target position, the push rod 430 is driven to move by the movement of the piston 420, the rear axle is pushed to steer, and the active steering of the rear wheel is realized. When the rear wheel needs to rotate in the opposite direction, the motor 330 of the rear axle steering power assembly 300 rotates in the opposite direction to drive the oil pump 320 to rotate in the opposite direction, so as to build the opposite oil pressure to push the piston 420 in the rear axle steering gear 400 to move in the opposite direction, thereby realizing the rotation of the rear axle in the opposite direction.
When a driver does not need to actively steer the rear axle or wants to make the rear axle wheel be in the middle position, the driver presses the middle switch 500 of the cab, the middle switch controller 600 hard-wire acquires a signal pressed by the middle switch 500, then sends a centering request signal to the rear axle steering power assembly 300 in a message form through the CAN wire, and the rear axle steering power assembly 300 drives the piston 420 in the rear axle steering unit 400 to return to the middle position, so that the rear axle wheel is centered.
A vehicle according to an embodiment of the invention is described below.
The vehicle according to the embodiment of the invention includes the vehicle steering control system 1 according to the above-described embodiment of the invention.
According to the vehicle provided by the embodiment of the invention, by utilizing the vehicle steering control system 1 provided by the embodiment of the invention, the active steering control of the rear wheels can be realized, so that the turning radius and the tire wear are reduced, and the vehicle has the advantages of simple structure, high accuracy and the like.
Other configurations and operations of vehicles according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
The following describes a vehicle steering control method according to an embodiment of the invention.
As shown in fig. 5, a vehicle steering control method according to an embodiment of the present invention includes:
acquiring a steering intention of a driver;
detecting the current vehicle speed;
calculating the rotation angle of the rear axle according to the steering intention of the driver and the current speed;
the rear wheel is driven to steer according to the turning angle of the rear axle, for example, hydraulically.
For example, the steering intention of the driver may be obtained by angle detection, and the current vehicle speed may be obtained by vehicle speed detection. The mathematical relation between the rotation angle of the steering wheel of the real vehicle and the rotation angle of the front shaft, the mathematical relation between the rotation angle of the front shaft and the rotation angle of the rear shaft, the mathematical relation between the rotation angle of the rear shaft and the stroke of the piston 420 and the mathematical relation between the rotation angle of the rear shaft and the vehicle speed are obtained through a calibration method.
Through the four mathematical relations, the mathematical relations of the steering wheel rotation angle, the vehicle speed and the stroke of the piston 420 are obtained, and a function table is made and written into an ECU program. Meanwhile, the mathematical relationship between the positions of the pistons 420 and the rotational speed and torque of the motor 330 needs to be calibrated and written into a program.
The corresponding target piston position is obtained by collecting the CAN signals of the vehicle speed and the rotation angle in real time, looking up a table, and then the motor 330 is driven to rotate at a certain rotating speed and torque to drive the oil pump 320 to rotate and pump oil to establish oil pressure to push the piston 420 to move, meanwhile, the stroke detection device 404 detects the actual position of the piston 420 in real time and sends the actual position to the rear-shaft steering power assembly 300, the rear-shaft steering power assembly 300 compares the difference value between the actual position and the target position of the piston 420, once the piston 420 reaches the allowable deviation, the current position is maintained, the piston position adjustment of the time is completed, and the next vehicle speed and steering wheel rotation angle signal are waited to be responded.
According to the vehicle steering control method, the steering intention of the driver is obtained, and the current vehicle speed is detected. Thereby, the current vehicle running condition can be acquired. Furthermore, the rotating angle of the rear axle is calculated according to the steering intention of the driver and the current speed of the vehicle, the accuracy of the rotating angle of the rear axle of the vehicle is guaranteed, the rear wheel is driven to steer accurately, the turning radius and the abrasion of the rear wheel are reduced, and good controllability is guaranteed.
And, it turns to in coordination to be different from among the correlation technique rear wheel, and control accuracy is higher, and can save a large amount of pipelines between rear axle and the front axle, and the structure is simpler, has lightened vehicle weight, has reduced the requirement to arranging the position, and has eliminated the hidden danger that requires highly and increase the oil mass and reveal to the valve body.
In some embodiments of the present invention, the steering intention of the driver is obtained by detecting the rotation angle of the steering wheel 10. When the vehicle steering control method is applied to the articulated vehicle, the steering intention of the driver is obtained by detecting the rotation angle of the articulated disc between the front carriage frame and the rear carriage frame.
The rotation angle of the steering wheel 10 and the rotation angle of the hinged disk 11 can be determined by a calibration method, so that the detection values can truly reflect the same steering intention of the driver.
Further, the rotation angle of the steering wheel 10 is detected twice at the same time to obtain two detection results, and whether the first detection value is accurate or not is checked according to the difference value of the two detection results; or the rotation angle of the hinged disk 11 is detected twice at the same time to obtain two detection results, and whether the first detection value is accurate or not is checked according to the difference value of the two detection results.
When the difference value of two detection results of the rotation angle of the detection steering wheel or the rotation angle of the hinged disk is within the allowable deviation, the first detection value is judged to be accurate, and the rear wheel steering is controlled according to the first detection value. And if the difference value of the two detection results exceeds the allowable deviation, the active control of the rear wheel steering is abandoned.
In some embodiments of the present invention, the vehicle steering control method further includes detecting a current wheel speed. And checking whether the detection value of the current vehicle speed is accurate or not according to the current wheel speed.
Specifically, the current wheel speed is converted into a vehicle speed, if the difference value between the converted vehicle speed and the detected vehicle speed is within an allowable deviation, the detected vehicle speed is judged to be accurate, and the rear wheel steering is controlled according to the detected vehicle speed. And if the difference value between the converted vehicle speed and the detected vehicle speed exceeds the allowable deviation, abandoning the active control of the rear wheel steering. In some embodiments of the invention, the vehicle steering control method further comprises: it is detected whether a centering signal is received. If so, the rear wheel is driven to be centered.
From this, under the operating mode such as getting into the station, can drive rear wheel position placed in the middle to prevent that the vehicle rear wheel from not placing in the middle and producing the potential safety hazard, through preventing to produce the injury to vehicle and personnel.
In the description herein, references to the description of "a particular embodiment," "a particular example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (16)
1. A vehicle steering control system, characterized by comprising:
first angle detection means for acquiring a steering intention of a driver;
vehicle speed detection means for detecting a current vehicle speed;
the rear axle steering power assembly is respectively connected with the first angle detection device and the vehicle speed detection device, and calculates the rotation angle of a rear axle according to the steering intention of the driver and the current vehicle speed;
the rear shaft steering device is connected with the rear shaft steering power assembly, and the rear shaft steering power assembly controls the rear shaft steering device according to the rotation angle of the rear shaft so as to drive the rear wheel to steer.
2. The vehicle steering control system according to claim 1, characterized in that the first angle detection means is provided to a steering shaft connected to a steering wheel to acquire the driver's steering intention by detecting a turning angle of the steering shaft; or
The first angle detection device is arranged on a hinged disc between a front carriage frame and a rear carriage frame so as to obtain the steering intention of the driver by detecting the rotation angle of the hinged disc.
3. The vehicle steering control system according to claim 1, characterized by further comprising:
a centering switch;
the centering switch controller is respectively connected with the centering switch and the rear shaft steering power assembly, the centering switch controller is used for collecting centering signals of the centering switch and sending the centering signals to the rear shaft steering power assembly, and the rear shaft steering power assembly controls the rear shaft steering gear to drive the rear wheel to be centered according to the centering signals.
4. The vehicle steering control system according to claim 1, characterized by further comprising:
and the second angle detection device is connected with the rear shaft steering power assembly and is used for verifying whether the detection value of the first angle detection device is accurate or not.
5. The vehicle steering control system according to claim 1, characterized by further comprising:
and the wheel speed detection device is connected with the rear axle steering power assembly and is used for verifying whether the detection value of the vehicle speed detection device is accurate or not by detecting the current wheel speed.
6. The vehicle steering control system of claim 1, wherein the rear axle steering powertrain comprises:
the oil tank is connected with the rear axle steering gear;
the oil pump is respectively connected with the oil tank and the rear axle steering gear;
the motor is connected with the oil pump and drives the oil pump to rotate positively and negatively through the positive and negative rotation of the motor;
and the motor controller is respectively connected with the first angle detection device, the vehicle speed detection device, the wheel speed detection device and the motor.
7. The vehicle steering control system according to claim 6, characterized in that the rear axle steering device includes:
the piston comprises a shell, wherein a piston cavity is arranged in the shell;
the piston is movably arranged in the piston cavity and divides the piston cavity into a first cavity and a second cavity, the first cavity is connected with the oil pump through a first oil inlet path, and the second cavity is connected with the oil pump through a second oil inlet path;
the push rod is connected to the piston and moves along with the piston;
the oil return valve is connected with the piston cavity, the joint of the oil return valve and the piston cavity corresponds to the middle position of the piston, and the oil return valve is connected with the oil tank through an oil return path;
the first control valve is connected between the first oil inlet channel and the oil return channel;
the second control valve is connected between the second oil inlet channel and the oil return channel;
the switching valve is provided with a first inlet, a second inlet and an outlet, the first inlet is respectively connected with the first oil inlet path and the second control valve, the second inlet is respectively connected with the second oil inlet path and the first control valve, and the outlet is connected with the oil return valve.
8. The vehicle steering control system according to claim 7, wherein the rear axle steering further comprises:
the first overflow valve is connected between the first oil inlet path and the oil return path;
and the second overflow valve is connected between the second oil inlet path and the oil return path.
9. The vehicle steering control system according to claim 7, wherein the rear axle steering further comprises:
the first check valve is arranged on the first oil inlet path;
and the second one-way valve is arranged on the second oil inlet path.
10. The vehicle steering control system according to claim 7, wherein the rear axle steering further comprises:
and the stroke detection device is connected with the motor controller and is used for detecting the moving stroke of the piston.
11. The vehicle steering control system according to any one of claims 1 to 10, characterized by further comprising:
the front axle steering gear is connected with the steering wheel;
the front-shaft steering oil pump is connected with the front-shaft steering gear;
the front-axle steering controller is connected with the front-axle steering oil pump.
12. A vehicle characterized by comprising the vehicle steering control system according to any one of claims 1-11.
13. A vehicle steering control method characterized by comprising:
acquiring a steering intention of a driver;
detecting the current vehicle speed;
calculating the rotation angle of a rear axle according to the steering intention of the driver and the current vehicle speed;
and driving the rear wheels to steer according to the rotation angle of the rear shaft.
14. The vehicle steering control method according to claim 13, characterized in that a rear wheel is hydraulically driven to steer in accordance with a turning angle of the rear axle.
15. The vehicle steering control method according to claim 13, characterized in that the steering intention of the driver is acquired by detecting a turning angle of a steering wheel; or
And acquiring the steering intention of the driver by detecting the rotation angle of a hinged disc between the front carriage frame and the rear carriage frame.
16. The vehicle steering control method according to claim 13, characterized by further comprising:
detecting whether a centering signal is received;
if so, the rear wheel is driven to be centered.
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| CN202010773366.8A CN114056423B (en) | 2020-08-04 | 2020-08-04 | Vehicle steering control system and vehicle with same |
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| CN202010773366.8A CN114056423B (en) | 2020-08-04 | 2020-08-04 | Vehicle steering control system and vehicle with same |
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| CN114056423A true CN114056423A (en) | 2022-02-18 |
| CN114056423B CN114056423B (en) | 2023-03-14 |
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Cited By (1)
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| CN114872797A (en) * | 2022-05-12 | 2022-08-09 | 中国重汽集团济南动力有限公司 | All-wheel steering snow sweeper all-wheel drive chassis |
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| CN114056423B (en) | 2023-03-14 |
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