CN114670917B - Manual and wire-control double-control steering system for vehicle and control method thereof - Google Patents

Manual and wire-control double-control steering system for vehicle and control method thereof Download PDF

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Publication number
CN114670917B
CN114670917B CN202210388162.1A CN202210388162A CN114670917B CN 114670917 B CN114670917 B CN 114670917B CN 202210388162 A CN202210388162 A CN 202210388162A CN 114670917 B CN114670917 B CN 114670917B
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CN
China
Prior art keywords
steering
vehicle
controller
module
angle sensor
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Application number
CN202210388162.1A
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Chinese (zh)
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CN114670917A (en
Inventor
王吉瑞
朱广岗
孙宇
胡晓
鲁康平
鲁海宁
刘入溶
陈凯
冯化斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Pengxiang Automobile Co Ltd
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Shandong Pengxiang Automobile Co Ltd
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Priority to CN202210388162.1A priority Critical patent/CN114670917B/en
Publication of CN114670917A publication Critical patent/CN114670917A/en
Application granted granted Critical
Publication of CN114670917B publication Critical patent/CN114670917B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/04—Hand wheels
    • B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
    • 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
    • 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
    • B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
    • B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a manual and wire-control double-control steering system for a vehicle and a control method thereof, which are characterized by comprising a storage battery, a whole vehicle controller, a mode change-over switch, a power battery, a four-in-one controller, an automatic driving module, a remote control device, a steering wheel angle sensor, a steering wheel, a steering column, a steering oil tank, an electric steering pump, a high-pressure filter, a priority valve, a steering gear, a proportional electromagnetic valve, a four-way joint, a steering axle, a first angle sensor, a first steering oil cylinder, a steering drive axle, a second angle sensor and a second steering oil cylinder; the steering control function of the vehicle in various control modes is realized, the steering of the vehicle can be controlled by a manual steering wheel, the steering of the vehicle can be controlled by manual remote control, the straight-line running can be corrected based on the large-angle steering and the small-angle correction of a preset running route in an automatic driving mode, and the steering control device has two steering modes of single-axle deflection wheel steering and two-axle wheel simultaneous deflection steering, so that the running requirement of the vehicle is met.

Description

Manual and wire-control double-control steering system for vehicle and control method thereof
Technical Field
The invention relates to the technical field of vehicle steering systems, in particular to a manual and wire-control double-control steering system for a vehicle and a control method thereof.
Background
With the development of vehicle technology, electric vehicles such as electric buses and electric logistics vehicles are becoming more and more popular. Most of electric buses and electric logistics vehicles are two-axle vehicles, hydraulic power-assisted steering is achieved through single-axle tire deflection steering, and a driver can control the action of a steering gear to control the steering of the vehicle according to the running requirement of the vehicle. With the development of unmanned technology, in the occasion of relatively fixed lines, unmanned vehicles have replaced manned vehicles, but in some cases, manual driving control vehicles are also required to execute corresponding actions; in the existing unmanned vehicle, a control mode of a steering device is added with a servo motor for control on the basis of single control of a steering wheel, and a whole vehicle controller controls the servo motor to act so as to control the steering device to act to realize vehicle steering; there are also all-hydraulic steering vehicle types, and steering schemes that give consideration to both manned and unmanned drive-by-wire are realized by employing all-hydraulic steering devices that integrate a drive-by-wire valve. The two steering modes are all single-axle tire deflection steering, and have large turning radius, so that the steering device is used for unmanned driving, and a large-size vehicle type application occasion is limited; if the two-axle wheels are changed into the two-axle wheel simultaneous deflection steering and the single steering device power assisting mode, two-axle mechanical linkage steering is needed, the structure is complex, the arrangement is not easy, and the realization of actual use is not facilitated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a manual and wire-control double-control steering system for a vehicle.
Another object of the present invention is to provide a control method of a steering system for manual and steer-by-wire steering for a vehicle.
The steering system mainly solves the problem that the existing steering system for unmanned two-axle vehicles, which takes both manual steering and steer-by-wire into consideration, limits the use occasions when being used for unmanned.
The technical scheme of the invention is as follows: the manual and wire-control double-control steering system for the vehicle is characterized by comprising a storage battery, a whole vehicle controller, a mode change-over switch, a power battery, a four-in-one controller, an automatic driving module, a remote control device vehicle-mounted end, a remote control device hand-held end, a steering wheel angle sensor, a steering wheel, a steering column, a steering oil tank, an electric steering pump, a high-pressure filter, a priority valve, a steering device, a proportional electromagnetic valve, a four-way joint, a steering axle, a first angle sensor, a first steering oil cylinder, a steering drive axle, a second angle sensor and a second steering oil cylinder;
the storage battery, the whole vehicle controller, the power battery, the four-in-one controller, the automatic driving module, the vehicle-mounted end of the remote control device, the steering oil tank, the electric steering pump, the high-pressure filter, the priority valve, the steering device, the proportional electromagnetic valve, the four-way joint, the steering axle and the steering drive axle are respectively connected with the vehicle frame; the mode change-over switch, the steering column and the steering wheel are arranged in a vehicle cab; the steering gear is fixedly connected with the steering column; the steering wheel angle sensor is fixed between the steering gear and the steering column; the fixed end of the first steering oil cylinder is connected with a steering axle housing of the vehicle, and the extending end of the first steering oil cylinder is connected with a steering knuckle arm of the steering axle; the fixed end of the second steering oil cylinder is connected with the axle housing of the steering drive axle of the vehicle, and the extending end of the second steering oil cylinder is connected with the steering knuckle arm of the steering drive axle; the first angle sensor is fixedly connected with the steering axle, and the second angle sensor is fixedly connected with the steering drive axle;
the steering oil tank is communicated with an oil inlet of the electric steering pump through an oil inlet pipeline; an oil outlet of the electric steering pump is communicated with an oil inlet of the high-pressure filter through a high-pressure pipeline; the oil outlet of the high-pressure filter is communicated with the P port of the priority valve through a high-pressure pipeline; the CF port of the priority valve is communicated with the P port of the steering gear through a high-pressure pipeline; the LS port of the priority valve is communicated with the LS port of the steering gear through a high-pressure pipeline; the EF port of the priority valve is communicated with the P port of the proportional electromagnetic valve through a high-pressure pipeline; the T port of the priority valve is communicated with the four-way joint through a high-pressure pipeline; the O port of the steering gear is communicated with the four-way joint through a high-pressure pipeline; the L, R port of the steering gear is respectively communicated with the rodless cavity and the oil port of the rod cavity of the first steering cylinder through a high-pressure pipeline; the T port of the proportional electromagnetic valve is communicated with the four-way joint through a high-pressure pipeline; the four-way joint is communicated with the steering oil tank through an oil return pipeline; the A, B port of the first control valve of the proportional electromagnetic valve is respectively communicated with the rodless cavity and the oil port of the rod cavity of the first steering cylinder through a high-pressure pipeline; the A, B port of the second control valve of the proportional electromagnetic valve is respectively communicated with the oil ports of the rod cavity and the rodless cavity of the second steering oil cylinder through high-pressure pipelines;
the electric steering pump is electrically connected with the four-in-one controller through a high-voltage circuit; the four-in-one controller is connected with the power battery through a high-voltage circuit;
the vehicle controller, the mode change-over switch, the power battery, the four-in-one controller, the automatic driving module, the vehicle-mounted end of the remote control device, the steering wheel angle sensor, the proportional electromagnetic valve, the first angle sensor and the second angle sensor are electrically connected with the storage battery through a power supply line; the whole vehicle controller, the power battery, the four-in-one controller, the automatic driving module, the vehicle-mounted end of the remote control device, the steering wheel angle sensor, the proportional solenoid valve, the first angle sensor and the second angle sensor are connected with a whole vehicle CAN line through the CAN line;
the mode switching switch is connected with the whole vehicle controller in a low voltage mode and is used for mode switching between manual driving and drive-by-wire mode;
the hand-held end of the remote control device is in wireless connection with the vehicle-mounted end of the remote control device and is used for manual remote control steer-by-wire control of the vehicle.
Preferably, the first angle sensor consists of a first magnet and a first detection end; the first magnet is fixedly connected with a steering axle main pin, and the first detection end is fixedly connected with a steering knuckle of the steering axle; the second angle sensor consists of a second magnet and a second detection end; the second magnet is fixedly connected with a steering drive axle main pin, and the second detection end is fixedly connected with a steering knuckle of the steering drive axle.
Preferably, the four-in-one controller comprises a power distribution module, a first DC/AC module, a second DC/AC module and a DC/DC module; the power battery outputs high-voltage direct current to a power distribution module in the four-in-one controller, and the power distribution module distributes the high-voltage direct current to a first DC/AC module, a second DC/AC module and a DC/DC module; the first DC/AC module outputs high-voltage alternating current to the electric steering pump; the DC/DC module provides stable low-voltage direct current power supply for vehicle electrical components and simultaneously charges a storage battery.
Preferably, the proportional electromagnetic valve is controlled by CAN communication; the proportional solenoid valve comprises a first control valve and a second control valve, the first control valve controls the first steering oil cylinder to act, the second control valve controls the second steering oil cylinder to act, and independent control of the steering axle and the steering drive axle wheels during AGV steering is achieved.
Preferably, a temperature sensor is integrated in the electric steering pump, and the temperature sensor is electrically connected with the first DC/AC module of the four-in-one controller to detect the temperature of the electric steering pump, so that the electric steering pump is ensured to work within a reasonable temperature range.
Preferably, the automatic driving module consists of an industrial personal computer, a sensor, a touch screen, an IO (input/output) plate, an electric control box and a wireless communication unit; the sensor, the touch screen, the IO board, the electric control box and the wireless communication unit are respectively connected with the industrial personal computer through connecting wires; the electric control box is respectively connected with the sensor, the touch screen, the IO board and the wireless communication unit through connecting wires;
the industrial personal computer is used for storing information of an automatic driving running path, processing sensor data fusion, accurately controlling automatic driving running of the vehicle and communicating running related information;
the sensor acquires the position information and course angle information of the vehicle in real time and uploads the information to the industrial personal computer;
the touch screen is used for inputting automatic driving control parameters of the vehicle, planning a running path, displaying running related parameter information and fault information, and is convenient for human-computer interaction;
the IO board is used for forwarding input and output signals or CAN signals;
the electric control box receives a 24V low-voltage storage battery power supply and is used for providing voltage-stabilized power supply requirements of different voltages for an upper control machine, a sensor, a touch screen, an IO (input/output) board and a wireless communication unit;
the wireless communication unit is used for wireless network connection between the industrial personal computer and the automatic driving scheduling module of the vehicle.
Preferably, the sensor is a visual navigation sensor or a laser navigation sensor or an inertial navigation sensor or a GNSS navigation sensor or a magnetic navigation sensor or a millimeter wave radar or a laser navigation sensor, an inertial navigation sensor, a combination of a millimeter wave radar and a GNSS navigation sensor.
Preferably, the first angle sensor and the second angle sensor adopt a single-turn absolute value encoder to feed back the wheel deflection angle, and after zero positions of steering axles of a steering axle and steering knuckles of a steering drive axle of the vehicle are calibrated, the deflection angle of the wheels is measured by detecting the deflection angle of the steering knuckles for closed-loop control of the wheel deflection.
Preferably, the steering wheel angle sensor uses a multi-turn absolute encoder to feed back steering wheel angle for monitoring whether there is manual intervention in steering by wire in the drive-by-wire mode.
The control method of the manual and wire-control double-control steering system for the vehicle is characterized by comprising the following steps of:
a, starting a vehicle, namely starting and self-checking a storage battery to provide a 24V power supply for a whole vehicle controller, a mode change-over switch, a power battery, a four-in-one controller, an automatic driving module, a remote control device vehicle-mounted end, a steering wheel angle sensor, a proportional electromagnetic valve, a first angle sensor and a second angle sensor, wherein the whole vehicle controller, the BMS integrated in the power battery, the four-in-one controller and the automatic driving module; after the self-checking is passed, the whole vehicle controller sends an upper high-voltage instruction to the power battery through the CAN line, the power battery receives the upper high-voltage instruction and then transmits high-voltage direct current to the four-in-one controller, a power distribution module in the four-in-one controller distributes the high-voltage direct current from the power battery to a first DC/AC module, a second DC/AC module and a DC/DC module in the four-in-one controller, the first DC/AC module controls the low-voltage operation of the electric steering pump, so that the electric steering pump is ready for steering, and meanwhile, the DC/DC module works to provide stable voltage for other electric appliance components and charge a storage battery;
b, the whole vehicle controller obtains the current vehicle driving mode through the signal state of the mode switching switch;
if the manual driving is invalid, the whole vehicle controller executes the manual driving instruction; the steering wheel is manually rotated, so that the first steering oil cylinder is controlled to stretch and retract to drive the wheels of the steering axle to deflect, and the steering or wheel alignment of the vehicle in the manual driving mode is realized;
c, if the driving is drive-by-wire, further transmitting a drive-by-wire mode to the whole vehicle controller through the vehicle-mounted end of the remote control device by a remote control/local switching button at the handheld end of the remote control device;
if the driving mode is the remote control driving mode, the whole vehicle controller executes a remote control instruction of a hand-held end of the remote control device; manually pushing a steering push rod at the hand-held end of the remote control device, and further controlling the first steering oil cylinder to stretch and retract to drive wheels of the steering axle to deflect, so that the steering or wheel alignment of the vehicle in a remote control driving mode is realized;
d if the driving mode is the local driving mode, the whole vehicle controller executes an automatic driving instruction of the automatic driving module;
the automatic driving module converts the running route of the vehicle into an instruction and sends the instruction to the whole vehicle controller, and the whole vehicle controller receives the instruction of the industrial personal computer to control the vehicle to run according to the running route;
in the running process of the vehicle, the whole vehicle controller receives the steering direction and steering angle instructions of the industrial personal computer, controls the first control valve and the first control valve to act, further controls the first steering oil cylinder to stretch and retract to drive the wheels of the steering axle to deflect, and the second steering oil cylinder to stretch and retract to drive the wheels of the steering drive axle to deflect, so that the steering or the wheel alignment of the vehicle in an automatic driving mode is realized; the first angle sensor monitors the steering axle wheel angle in real time and transmits the angle information to the whole vehicle controller, the second angle sensor monitors the steering drive axle wheel angle in real time and transmits the angle information to the whole vehicle controller, and the whole vehicle controller performs closed-loop control on the steering direction and the steering angle instruction of the industrial personal computer according to the wheel deflection angle values transmitted back by the first angle sensor and the second angle sensor, so that the automatic steering requirement is met;
and in the e-wire driving mode, if the whole vehicle controller detects that the steering wheel rotates through the steering wheel angle sensor, the fact that the wire driving mode is intervened by a person through the steering wheel is indicated, the whole vehicle controller exits the wire driving mode based on safety consideration, and the wire driving instruction is not executed any more.
The invention has the beneficial effects that:
1. the conventional manual driving all-hydraulic single-shaft steering system is combined with the drive-by-wire double-shaft all-wheel steering system, so that both manual steering and drive-by-wire steering are considered, the steering control function of the vehicle in various control modes is realized, the controllability is high, the vehicle steering can be controlled by a manual steering wheel, the vehicle steering can be controlled by manual remote control, and the accurate steering can be controlled by wire control in an automatic driving mode; the manual steering and the steer-by-wire are considered, the highest priority of the manual steering is ensured, and the safety of the vehicle is ensured;
2. the control-by-wire steering adopts a proportional electromagnetic valve as a control valve, so that the opening of a valve core can be conveniently controlled according to the steering speed requirement, and the oil inlet flow of the steering oil cylinder is further controlled, and the speed change control of the action speed of the steering oil cylinder is achieved; based on the respective control of the front steering cylinder and the rear steering cylinder, various steering modes of the vehicle can be realized; the two-axle wheels deflect and turn simultaneously, so that the turning radius of the vehicle is reduced, the curve passing capability is improved, and the service performance is enhanced;
3. based on multi-angle sensor feedback, the automatic steering control process is combined, the vehicle steering is ensured to be accurate, and the vehicle is accurately operated according to a planned automatic operation route, so that the whole unmanned control process is more adaptive, and has high efficiency.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a hydraulic schematic of the present invention;
FIG. 3 is a schematic top view of the steering system of the present invention mounted on a vehicle;
FIG. 4 is a schematic side view of the steering system of the present invention installed on a vehicle;
fig. 5 is a schematic view of the invention and an angle sensor installation.
In the figure: the intelligent control system comprises a storage battery 1, a whole vehicle controller 2, a mode switching switch 3, a power battery 4, a four-in-one controller 5, an automatic driving module 6, a remote control device vehicle-mounted end 7, a remote control device hand-held end 8, a steering wheel angle sensor 9, a steering wheel 10, a steering column 11, a steering oil tank 12, an electric steering pump 13, a high-pressure filter 14, a priority valve 15, a steering gear 16, a proportional solenoid valve 17, a four-way joint 18, a steering bridge 19, a first angle sensor 20, a first steering cylinder 21, a steering drive bridge 22, a second angle sensor 23, a second steering cylinder 24, a power distribution module 51, a first DC/AC module 52, a second DC/AC module 53, a DC/DC module 54, a power control device 61, a sensor 62, a touch screen 63, an IO board 64, an electric control box 65, a wireless communication unit 66, a temperature sensor 131, a first magnet 201, a first magnet 202, a first detection end 231 second magnet 232, a second detection end, a first control valve 171, and a second control valve 172.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, 2, 3, 4 and 5, the manual and drive-by-wire steering system for the vehicle comprises a storage battery 1, a whole vehicle controller 2, a mode change-over switch 3, a power battery 4, a four-in-one controller 5, an automatic driving module 6, a remote control device vehicle-mounted end 7, a remote control device hand-held end 8, a steering wheel angle sensor 9, a steering wheel 10, a steering column 11, a steering oil tank 12, an electric steering pump 13, a high-pressure filter 14, a priority valve 15, a steering device 16, a proportional electromagnetic valve 17, a four-way joint 18, a steering bridge 19, a first angle sensor 20, a first steering oil cylinder 21, a steering drive axle 22, a second angle sensor 23 and a second steering oil cylinder 24; the storage battery 1 is a 24V storage battery;
the four-in-one controller 5 comprises a power distribution module 51, a first DC/AC module 52, a second DC/AC module 53 and a DC/DC module 54; the power battery 4 outputs high-voltage direct current to a power distribution module 51 in the four-in-one controller 5, and the power distribution module 51 distributes the high-voltage direct current to a first DC/AC module 52, a second DC/AC module 53 and a DC/DC module 54; the first DC/AC module 52 outputs high-voltage alternating current to the electric steering pump 13 to control the electric steering pump 13 to operate; the DC/DC module 54 provides a stable low-voltage direct current power supply to the vehicle electrical components while charging the 24V battery 1;
the proportional electromagnetic valve 17 is controlled by CAN communication; the proportional solenoid valve 17 comprises a first control valve 171 and a second control valve 172, the first control valve 171 controls the first steering cylinder 21 to act, and the second control valve 172 controls the second steering cylinder 24 to act, so that independent control of wheels of the steering axle 19 and the steering drive axle 22 during AGV steering is realized;
the temperature sensor 131 is integrated inside the electric steering pump 13, and the temperature sensor 131 is electrically connected with the first DC/AC module 52 to detect the temperature of the electric steering pump 13, so that the electric steering pump 13 is ensured to work in a reasonable temperature range;
the automatic driving module 6 consists of an industrial personal computer 61, a sensor 62, a touch screen 63, an IO (input/output) plate 64, an electric control box 65 and a wireless communication unit 66; the sensor 62, the touch screen 63, the IO board 64, the electric control box 65 and the wireless communication unit 66 are respectively connected with the industrial personal computer 61 through connecting wires; the electric control box 65 is respectively connected with the sensor 62, the touch screen 63, the IO board 64 and the wireless communication unit 66 through connecting wires; the industrial personal computer 61 is used for storing information of an automatic driving running path, fusing sensor data, accurately controlling automatic driving running of the vehicle and communicating running related information; the sensor 62 collects the position information and heading angle information of the vehicle in real time and uploads the information to the industrial personal computer 61; the touch screen 63 is used for inputting automatic driving control parameters of the vehicle, planning a running path, displaying running related parameter information and fault information, and facilitating man-machine interaction; the IO board 64 is used for forwarding the input/output signal or CAN signal; the electric control box 65 receives the power supply of the 24V low-voltage storage battery 1 and is used for providing the regulated power supply requirements of different voltages for the upper control computer 61, the sensor 62, the touch screen 63, the IO board 64 and the wireless communication unit 66; the wireless communication unit 66 is used for wireless network connection between the industrial personal computer 61 and the automatic driving scheduling module of the vehicle;
the sensor 62 is a visual navigation sensor or a laser navigation sensor or an inertial navigation sensor or a GNSS navigation sensor or a magnetic navigation sensor or a millimeter wave radar or a laser navigation sensor, an inertial navigation sensor, a combination of millimeter wave radar and GNSS navigation sensor;
the first angle sensor 20 and the second angle sensor 23 adopt a single-turn absolute value encoder to feed back the wheel deflection angle, and after zero positions of steering knuckles of the steering axle 19 and the steering drive axle 22 of the vehicle are calibrated, the deflection angle of the wheel is measured by detecting the deflection angle of the steering knuckle so as to realize closed-loop control of the wheel deflection;
the steering wheel angle sensor 9 adopts a multi-turn absolute value encoder to feed back the steering angle of the steering wheel 10, so as to monitor whether the steering wheel is manually involved in the steering-by-wire driving mode;
the 24V storage battery 1, the whole vehicle controller 2, the power battery 4, the four-in-one controller 5, the automatic driving module 6, the remote control device vehicle-mounted end 7, the steering oil tank 12, the electric steering pump 13, the high-pressure filter 14, the priority valve 15, the steering gear 16, the proportional electromagnetic valve 17, the four-way joint 18, the steering axle 19 and the steering drive axle 22 are respectively connected with a vehicle frame; the mode selector switch 3, the steering column 11, and the steering wheel 10 are installed in the cab; fixedly connecting the steering gear 16 with the steering column 11; fixing the steering wheel angle sensor 9 between the steering gear 16 and the steering column 11; connecting the fixed end of the first steering cylinder 21 with the axle housing of the vehicle steering axle 19, and connecting the extending end of the first steering cylinder 21 with the steering knuckle arm of the steering axle 19; connecting the fixed end of the second steering cylinder 24 with the axle housing of the steering drive axle 22 of the vehicle, and connecting the extending end of the second steering cylinder 24 with the steering knuckle arm of the steering drive axle 22; the first angle sensor 20 consists of a first magnet 201 and a first detection end 202, the first magnet 201 is fixedly connected with a main pin of the steering axle 19, the first detection end 202 is fixedly connected with a steering knuckle of the steering axle 19, the second angle sensor 23 consists of a second magnet 231 and a second detection end 232, the second magnet 231 is fixedly connected with a main pin of the steering drive axle 22, and the second detection end 232 is fixedly connected with the steering knuckle of the steering drive axle 22;
the steering oil tank 12 is communicated with an oil inlet of the electric steering pump 13 through an oil inlet pipeline; an oil outlet of the electric steering pump 13 is communicated with an oil inlet of a high-pressure filter 14 through a high-pressure pipeline; the oil outlet of the high-pressure filter 14 is communicated with the P port of the priority valve 15 through a high-pressure pipeline; the CF port of the priority valve 15 is communicated with the P port of the steering gear 16 through a high-pressure pipeline; the LS port of the priority valve 15 is communicated with the LS port of the steering gear 16 through a high-pressure pipeline; the EF port of the priority valve 15 is communicated with the P port of the proportional electromagnetic valve 17 through a high-pressure pipeline; the T port of the priority valve 15 is communicated with the four-way joint 18 through a high-pressure pipeline; the O port of the steering gear 16 is communicated with the four-way joint 18 through a high-pressure pipeline; the L, R port of the steering gear 16 is respectively communicated with the rodless cavity and the oil port of the rod cavity of the first steering cylinder 21 through a high-pressure pipeline; the T port of the proportional electromagnetic valve 17 is communicated with the four-way joint 18 through a high-pressure pipeline; the four-way joint 18 is communicated with the steering oil tank 12 through an oil return pipeline; the A, B port of the first control valve 171 of the proportional solenoid valve 17 is respectively communicated with the oil port of the rodless cavity and the oil port of the rod cavity of the first steering cylinder 21 through a high-pressure pipeline; the A, B port of the second control valve 172 of the proportional solenoid valve 17 is respectively communicated with the rodless cavity and the oil port of the rod cavity of the second steering cylinder 24 through a high-pressure pipeline;
the electric steering pump 13 is electrically connected with the four-in-one controller 5 through a high-voltage circuit; the four-in-one controller 5 is connected with the power battery 4 through a high-voltage circuit;
the whole vehicle controller 2, the mode change-over switch 3, the power battery 4, the four-in-one controller 5, the automatic driving module 6, the remote control device vehicle-mounted end 7, the steering wheel angle sensor 9, the proportional electromagnetic valve 17, the first angle sensor 20 and the second angle sensor 23 are electrically connected with the 24V storage battery 1 through low-voltage power lines; the whole vehicle controller 2, the power battery 4, the four-in-one controller 5, the automatic driving module 6, the remote control device vehicle-mounted end 7, the steering wheel angle sensor 9, the proportional electromagnetic valve 17, the first angle sensor 20 and the second angle sensor 23 are connected with a whole vehicle CAN line through a CAN line;
the mode switching switch 3 is connected with the whole vehicle controller 2 in a low voltage mode and is used for mode switching of manual driving and drive-by-wire driving;
the hand-held end 8 of the remote control device is wirelessly connected with the vehicle-mounted end 7 of the remote control device and is used for manual remote control steer-by-wire control of the vehicle; the manual and wire-control double-control steering system for the vehicle is formed.
The invention relates to a manual and wire-control double-control steering system for a vehicle, wherein a steering oil tank 12 is used for storing hydraulic oil; the electric steering pump 13 pressurizes the hydraulic oil in the steering oil tank 12 and outputs the pressurized hydraulic oil to the priority valve 15; when the manual steering wheel turns, high-pressure oil flows to the first steering oil cylinder 21 through the CF port of the priority valve 15 and the steering gear 16, and the first steering oil cylinder 21 stretches and contracts under the action of the high-pressure oil to drive the wheels of the steering axle 19 to deflect, so that the steering or the wheel alignment of the vehicle in the manual driving mode is realized. In the drive-by-wire automatic driving mode, high-pressure oil flows to the first steering oil cylinder 21 and the second steering oil cylinder 24 through the priority valve 15 and the proportional electromagnetic valve 17, the first steering oil cylinder 21 stretches and contracts under the action of the high-pressure oil to drive wheels of the steering axle 19 to deflect, and the second steering oil cylinder 24 stretches and contracts under the action of the high-pressure oil to drive wheels of the steering drive axle 22 to deflect, so that the steering or the wheel alignment of the vehicle in the automatic driving mode is realized. The first angle sensor 20 monitors the wheel rotation angle of the steering axle 19 in real time and transmits rotation angle information to the whole vehicle controller 2, the second angle sensor 23 monitors the wheel rotation angle of the steering drive axle 22 in real time and transmits rotation angle information to the whole vehicle controller 2, and the whole vehicle controller 2 performs closed-loop control on the steering direction and steering angle instruction of the industrial personal computer 61 according to the wheel deflection angle values transmitted back by the first angle sensor 20 and the second angle sensor 23, so that the automatic steering requirement is met.
The invention relates to a control method of a manual and wire-control double-control steering system for a vehicle, which specifically comprises the following steps:
a, starting a vehicle, namely starting a 24V storage battery 1 to provide 24V power for a whole vehicle controller 2, a mode change-over switch 3, a power battery 4, a four-in-one controller 5, an automatic driving module 6, a remote control device vehicle-mounted end 7, a steering wheel angle sensor 9, a proportional electromagnetic valve 17, a first angle sensor 20 and a second angle sensor 23, and starting and self-checking the whole vehicle controller 2, the BMS integrated in the power battery 4, the four-in-one controller 5 and the automatic driving module 6; after the self-checking is passed, the whole vehicle controller 2 sends an upper high-voltage instruction to the power battery 4 through the CAN line, the power battery 4 receives the upper high-voltage instruction and then sends high-voltage direct current to the four-in-one controller 5, a power distribution module 51 in the four-in-one controller 5 distributes the high-voltage direct current of the power battery 4 to a DC/AC module 152, a DC/AC module 253 and a DC/DC module 54 in the four-in-one controller 5, the DC/AC module 132 controls the electric steering pump 13 to run at low voltage so as to prepare for steering, and meanwhile, the DC/DC module 54 provides stable voltage for other piezoelectric components to work and charges the 24V storage battery 1;
b, the whole vehicle controller 2 obtains the current vehicle driving mode through the signal state of the mode switching switch 3;
if the manual driving is invalid, the whole vehicle controller 2 executes the manual driving instruction. Manually rotating the steering wheel 10, driving the steering gear 16 to act through the steering column 11 by the steering wheel 10, enabling high-pressure oil output by the electric steering pump 13 to flow to the first steering oil cylinder 21 through the priority valve 15 and the steering gear 16, enabling the first steering oil cylinder 21 to stretch and retract under the action of the high-pressure oil to drive wheels of the steering axle 19 to deflect, and realizing vehicle steering or wheel alignment under a manual driving mode;
c, if the driving is drive-by-wire, a remote control/local switching button of a remote control device handheld end 8 sends a drive-by-wire mode to the whole vehicle controller 2 through a remote control device vehicle-mounted end 7;
if the driving mode is the remote control driving mode, the whole vehicle controller 2 executes a remote control instruction of the remote control device hand-held end 8; manually pushing a steering push rod of a hand-held end 8 of the remote control device, converting the push rod action into a CAN instruction, transmitting the CAN instruction to the whole vehicle controller 2, communicating the whole vehicle controller 2 with a first control valve 171 of a proportional electromagnetic valve 17, controlling the first control valve 171 to act, enabling high-pressure oil output by an electric steering pump 13 to flow to a first steering cylinder 21 through a priority valve 15 and the proportional electromagnetic valve 17, enabling the first steering cylinder 21 to stretch and retract under the action of the high-pressure oil so as to drive wheels of a steering axle 19 to deflect, and realizing vehicle steering or wheel alignment under a remote control driving mode;
d if the vehicle is in the local driving mode, the whole vehicle controller 2 executes an automatic driving instruction of the automatic driving module 6;
the automatic driving module 6 converts the running route of the vehicle into an instruction and sends the instruction to the whole vehicle controller 2, and the whole vehicle controller 2 receives the instruction of the industrial personal computer 61 to control the vehicle to run according to the running route;
in the running process of the vehicle, the whole vehicle controller 2 receives the steering direction and steering angle instructions of the industrial personal computer 61, communicates with the first control valve 171 and the first control valve 172 of the proportional electromagnetic valve 17, controls the first control valve 171 and the first control valve 172 to act, high-pressure oil output by the electric steering pump 13 flows to the first steering cylinder 21 and the second steering cylinder 24 through the priority valve 15 and the proportional electromagnetic valve 17, the first steering cylinder 21 stretches and contracts under the action of the high-pressure oil to drive wheels of the steering axle 19 to deflect, and the second steering cylinder 24 stretches and contracts under the action of the high-pressure oil to drive wheels of the steering drive axle 22 to deflect, so that the vehicle steering or the wheels are corrected under the automatic driving mode. The first angle sensor 20 monitors the wheel angle of the steering axle 19 in real time and transmits the angle information to the whole vehicle controller 2, the second angle sensor 23 monitors the wheel angle of the steering drive axle (22) in real time and transmits the angle information to the whole vehicle controller 2, and the whole vehicle controller 2 performs closed-loop control on the steering direction and the steering angle instruction of the industrial personal computer 61 according to the wheel deflection angle values transmitted back by the first angle sensor 20 and the second angle sensor 23, so that the automatic steering requirement is met;
e, the sensor 62 of the automatic driving module 6 collects the steering angle information of the vehicle in real time and transmits the steering angle information to the industrial personal computer 61, and the industrial personal computer 61 judges the difference value between the steering angle of the vehicle and the required steering angle according to the steering angle information and communicates with the whole vehicle controller 2 in real time to control the steering or the wheel alignment of the vehicle;
f, the industrial personal computer 61 collects and processes the position information of the vehicle during running through the sensor 62, judges whether the running direction of the vehicle deviates by a small angle relative to the planned running route, if so, the small angle route correction instruction is sent to the whole vehicle controller 2 after the deviation angle is judged, the whole vehicle controller 2 controls the steering execution device to execute corresponding actions to realize the small angle correction of the running route of the vehicle, and the safe running of the vehicle in the road marking is ensured;
in the g-drive-by-wire mode, if the vehicle controller 2 detects that the steering wheel rotates through the steering wheel angle sensor 9, it indicates that the manual intervention of the driving-by-wire mode is performed through the steering wheel, and the vehicle controller 2 exits the driving-by-wire mode based on safety consideration and no further driving instruction by wire is executed.
It should be understood that technical features that are not specifically described in the present specification belong to the prior art. Although the embodiments of the present invention have been described in connection with the accompanying drawings, the present invention is not limited to the above-described embodiments, which are intended to be illustrative only and not limiting, and many more forms can be made by those of ordinary skill in the art without departing from the spirit of the invention and the scope of the appended claims, which are to be construed as falling within the scope of the invention.

Claims (10)

1. The manual and wire-control double-control steering system for the automobile is characterized by comprising a storage battery (1), an entire automobile controller (2), a mode change-over switch (3), a power battery (4), a four-in-one controller (5), an automatic driving module (6), a remote control device automobile-mounted end (7), a remote control device hand-held end (8), a steering wheel angle sensor (9), a steering wheel (10), a steering column (11), a steering oil tank (12), an electric steering pump (13), a high-pressure filter (14), a priority valve (15), a steering device (16), a proportional electromagnetic valve (17), a four-way joint (18), a steering bridge (19), a first angle sensor (20), a first steering oil cylinder (21), a steering drive axle (22), a second angle sensor (23) and a second steering oil cylinder (24);
the storage battery (1), the whole vehicle controller (2), the power battery (4), the four-in-one controller (5), the automatic driving module (6), the remote control device vehicle-mounted end (7), the steering oil tank (12), the electric steering pump (13), the high-pressure filter (14), the priority valve (15), the steering device (16), the proportional electromagnetic valve (17), the four-way connector (18), the steering axle (19) and the steering drive axle (22) are respectively connected with the vehicle frame; the mode change-over switch (3), the steering column (11) and the steering wheel (10) are arranged in a vehicle cab; the steering gear (16) is fixedly connected with the steering column (11); the steering wheel angle sensor (9) is fixed between the steering gear (16) and the steering column (11); the fixed end of the first steering oil cylinder (21) is connected with the axle housing of the steering axle (19) of the vehicle, and the extending end of the first steering oil cylinder (21) is connected with the steering knuckle arm of the steering axle (19); the fixed end of the second steering oil cylinder (24) is connected with the axle housing of the steering drive axle (22) of the vehicle, and the extending end of the second steering oil cylinder (24) is connected with the steering knuckle arm of the steering drive axle (22); the first angle sensor (20) is fixedly connected with the steering axle (19), and the second angle sensor (23) is fixedly connected with the steering drive axle (22);
the steering oil tank (12) is communicated with an oil inlet of the electric steering pump (13) through an oil inlet pipeline; an oil outlet of the electric steering pump (13) is communicated with an oil inlet of the high-pressure filter (14) through a high-pressure pipeline; an oil outlet of the high-pressure filter (14) is communicated with a P port of the priority valve (15) through a high-pressure pipeline; the CF port of the priority valve (15) is communicated with the P port of the steering gear (16) through a high-pressure pipeline; the LS port of the priority valve (15) is communicated with the LS port of the steering gear (16) through a high-pressure pipeline; the EF port of the priority valve (15) is communicated with the P port of the proportional electromagnetic valve (17) through a high-pressure pipeline; the T-port of the priority valve (15) is communicated with the four-way joint (18) through a high-pressure pipeline; an O port of the steering gear (16) is communicated with the four-way joint (18) through a high-pressure pipeline; the L, R port of the steering gear (16) is respectively communicated with the rodless cavity and the oil port of the rod cavity of the first steering cylinder (21) through high-pressure pipelines; the T-port of the proportional electromagnetic valve (17) is communicated with the four-way joint (18) through a high-pressure pipeline; the four-way joint (18) is communicated with the steering oil tank (12) through an oil return pipeline; the A, B port of the first control valve (171) of the proportional solenoid valve (17) is respectively communicated with the rodless cavity and the oil port of the rod cavity of the first steering cylinder (21) through a high-pressure pipeline; the A, B port of the second control valve (172) of the proportional solenoid valve (17) is respectively communicated with the oil port of the rod cavity and the oil port of the rodless cavity of the second steering cylinder (24) through a high-pressure pipeline;
the electric steering pump (13) is electrically connected with the four-in-one controller (5) through a high-voltage circuit; the four-in-one controller (5) is connected with the power battery (4) through a high-voltage circuit;
the vehicle control unit comprises a vehicle control unit (2), a mode change-over switch (3), a power battery (4), a four-in-one controller (5), an automatic driving module (6), a remote control device vehicle-mounted end (7), a steering wheel angle sensor (9), a proportional solenoid valve (17), a first angle sensor (20) and a second angle sensor (23) which are electrically connected with a storage battery (1) through a power supply line; the vehicle control device comprises a vehicle control unit (2), a power battery (4), a four-in-one controller (5), an automatic driving module (6), a remote control device vehicle-mounted end (7), a steering wheel angle sensor (9), a proportional electromagnetic valve (17), a first angle sensor (20) and a second angle sensor (23) which are connected with a vehicle CAN line through the CAN line;
the mode switching switch (3) is connected with the whole vehicle controller (2) in a low-voltage mode and is used for mode switching between manual driving and drive-by-wire mode;
the remote control device hand-held end (8) is in wireless connection with the remote control device vehicle-mounted end (7) and is used for manual remote control steer-by-wire control of a vehicle.
2. The manual and drive-by-wire steering system for a vehicle according to claim 1, wherein the first angle sensor (20) comprises a first magnet (201) and a first detection end (202); the first magnet (201) is fixedly connected with a main pin of the steering axle (19), and the first detection end (202) is fixedly connected with a steering knuckle of the steering axle (19); the second angle sensor (23) consists of a second magnet (231) and a second detection end (232); the second magnet (231) is fixedly connected with a main pin of the steering drive axle (22), and the second detection end (232) is fixedly connected with a steering knuckle of the steering drive axle (22).
3. The manual and drive-by-wire steering system for vehicles according to claim 1, wherein the four-in-one controller (5) comprises a power distribution module (51), a first DC/AC module (52), a second DC/AC module (53) and a DC/DC module (54); the power battery (4) outputs high-voltage direct current to a power distribution module (51) in the four-in-one controller (5), and the power distribution module (51) distributes the high-voltage direct current to a first DC/AC module (52), a second DC/AC module (53) and a DC/DC module (54); the first DC/AC module (52) outputs high-voltage alternating current to the electric steering pump (13); the DC/DC module (54) provides a stable low-voltage direct-current power supply for vehicle electrical components and simultaneously charges the storage battery (1).
4. The manual and drive-by-wire steering system for vehicles according to claim 1, wherein the proportional solenoid valve (17) is controlled by CAN communication; the proportional solenoid valve (17) comprises a first control valve (171) and a second control valve (172), the first control valve (171) controls the first steering oil cylinder (21) to act, and the second control valve (172) controls the second steering oil cylinder (24) to act, so that independent control of wheels of the steering axle (19) and the steering drive axle (22) during AGV steering is realized.
5. The manual and drive-by-wire steering system for the vehicle according to claim 1, wherein a temperature sensor (131) is integrated in the electric steering pump (13), and the temperature sensor (131) is electrically connected with a first DC/AC module (52) of the four-in-one controller (5) to detect the temperature of the electric steering pump (13) and ensure that the electric steering pump (13) works within a reasonable temperature range.
6. The manual and wire-controlled steering system for the vehicle according to claim 1, wherein the automatic driving module (6) is composed of an industrial personal computer (61), a sensor (62), a touch screen (63), an IO (input/output) board (64), an electric control box (65) and a wireless communication unit (66); the sensor (62), the touch screen (63), the IO board (64), the electric control box (65) and the wireless communication unit (66) are respectively connected with the industrial personal computer (61) through connecting wires; the electric control box (65) is respectively connected with the sensor (62), the touch screen (63), the IO board (64) and the wireless communication unit (66) through connecting wires;
the industrial personal computer (61) is used for storing information of an automatic driving running path, processing sensor data fusion, accurately controlling automatic driving running of the vehicle and communicating running related information;
the sensor (62) collects the position information and the course angle information of the vehicle in real time and uploads the information to the industrial personal computer (61);
the touch screen (63) is used for inputting automatic driving control parameters of the vehicle, planning a running path, displaying running related parameter information and fault information, and is convenient for human-computer interaction;
the IO board (64) is used for forwarding input/output signals or CAN signals;
the electric control box (65) receives a power supply of the 24V low-voltage storage battery (1) and is used for providing different voltage stabilized power supply requirements for the industrial personal computer (61), the sensor (62), the touch screen (63), the IO board (64) and the wireless communication unit (66);
the wireless communication unit (66) is used for wireless network connection between the industrial personal computer (61) and the automatic driving scheduling module of the vehicle.
7. The manual and steer-by-wire steering system of claim 6, wherein said sensor (62) is a combination of a visual navigation sensor or a laser navigation sensor or an inertial navigation sensor or a GNSS navigation sensor or a magnetic navigation sensor or a millimeter wave radar or a laser navigation sensor, an inertial navigation sensor, a millimeter wave radar and a GNSS navigation sensor.
8. The manual and drive-by-wire steering system for vehicles according to claim 1, wherein the first angle sensor (20) and the second angle sensor (23) use single-turn absolute value encoders to feed back the wheel deflection angle, and after the zero positions of the knuckles of the steering axle (19) and the steering drive axle (22) of the vehicle are calibrated, the deflection angle of the wheels is measured by detecting the deflection angle of the knuckles for closed-loop control of the wheel deflection.
9. The manual and steer-by-wire steering system of claim 1, wherein the steering wheel angle sensor (9) is configured to feed back the steering angle of the steering wheel (10) by using a multi-turn absolute encoder for monitoring whether there is manual intervention in steering of the steering wheel in the steer-by-wire mode.
10. The control method of the manual and drive-by-wire steering system for a vehicle according to any one of the preceding claims 1 to 9, characterized by comprising the steps of:
a, starting a vehicle, namely starting a storage battery (1) to provide 24V power supply for a whole vehicle controller (2), a mode change-over switch (3), a power battery (4), a four-in-one controller (5), an automatic driving module (6), a remote control device vehicle-mounted end (7), a steering wheel angle sensor (9), a proportional electromagnetic valve (17), a first angle sensor (20) and a second angle sensor (23), and starting and self-checking the whole vehicle controller (2), a BMS integrated in the power battery (4), the four-in-one controller (5) and the automatic driving module (6); after the self-checking is passed, the whole vehicle controller (2) sends an upper high-voltage instruction to the power battery (4) through the CAN line, the power battery (4) receives the upper high-voltage instruction and then sends the high-voltage direct current to the four-in-one controller (5), a power distribution module (51) in the four-in-one controller (5) distributes the high-voltage direct current of the power battery (4) to a first DC/AC module (52), a second DC/AC module (53) and a DC/DC module (54) in the four-in-one controller (5), the first DC/AC module (52) controls the electric steering pump (13) to run at low voltage so as to prepare for steering, and meanwhile, the DC/DC module (54) works to provide stable voltage for other piezoelectric parts and charge the storage battery (1);
b, the whole vehicle controller (2) obtains the current vehicle driving mode through the signal state of the mode switching switch (3);
if manual driving is invalid, the whole vehicle controller (2) executes a manual driving instruction; the steering wheel (10) is manually rotated, so that the first steering oil cylinder (21) is controlled to stretch and retract to drive the wheels of the steering axle (19) to deflect, and the steering or wheel alignment of the vehicle in the manual driving mode is realized;
c, if the driving is drive-by-wire, a remote control/local switching button of a remote control device hand-held end (8) sends a drive-by-wire driving mode to the whole vehicle controller (2) through a remote control device vehicle-mounted end (7);
if the driving mode is a remote control driving mode, the whole vehicle controller (2) executes a remote control instruction of a remote control device hand-held end (8); manually pushing a steering push rod of a hand-held end (8) of the remote control device, and further controlling a first steering oil cylinder (21) to stretch and retract to drive wheels of a steering axle (19) to deflect, so that steering or wheel alignment of the vehicle in a remote control driving mode is realized;
d if the vehicle is in the local driving mode, the whole vehicle controller (2) executes an automatic driving instruction of the automatic driving module (6);
the automatic driving module (6) converts the running route of the vehicle into a command and sends the command to the whole vehicle controller (2), and the whole vehicle controller (2) receives the command of the industrial personal computer (61) to control the vehicle to run according to the running route;
in the running process of the vehicle, the whole vehicle controller (2) receives the steering direction and steering angle instructions of the industrial personal computer (61), controls the first control valve (171) and the second control valve (172) to act, further controls the first steering oil cylinder (21) to stretch and drive the wheels of the steering axle (19) to deflect, and the second steering oil cylinder (24) to stretch and drive the wheels of the steering drive axle (22) to deflect, so that the steering or wheel alignment of the vehicle in an automatic driving mode is realized; the first angle sensor (20) monitors the wheel angle of the steering axle (19) in real time and transmits the angle information to the whole vehicle controller (2), the second angle sensor (23) monitors the wheel angle of the steering drive axle (22) in real time and transmits the angle information to the whole vehicle controller (2), and the whole vehicle controller (2) performs closed-loop control on the steering direction and the steering angle instruction of the industrial personal computer (61) according to the wheel deflection angle values transmitted by the first angle sensor (20) and the second angle sensor (23) so as to meet the automatic driving steering requirement;
in the e-wire driving mode, if the whole vehicle controller (2) detects that the steering wheel rotates through the steering wheel angle sensor (9), the fact that the manual intervention of the wire driving mode through the steering wheel is performed is indicated, and the whole vehicle controller (2) exits the wire driving mode based on safety consideration and does not execute the wire driving instruction.
CN202210388162.1A 2022-04-14 2022-04-14 Manual and wire-control double-control steering system for vehicle and control method thereof Active CN114670917B (en)

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