CN114715256A - Unmanned vehicle steering wheel control system capable of automatically switching driving between man and machine - Google Patents
Unmanned vehicle steering wheel control system capable of automatically switching driving between man and machine Download PDFInfo
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- CN114715256A CN114715256A CN202210334727.8A CN202210334727A CN114715256A CN 114715256 A CN114715256 A CN 114715256A CN 202210334727 A CN202210334727 A CN 202210334727A CN 114715256 A CN114715256 A CN 114715256A
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- 238000001514 detection method Methods 0.000 abstract description 2
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- 230000001133 acceleration Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- 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
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- 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
- B62D1/26—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted mechanical, e.g. by a non-load-bearing guide
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- 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
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- 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
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/0205—Mechanical indicators, e.g. in or near steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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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 relates to a steering wheel control system of an unmanned vehicle capable of automatically switching driving between a man and a machine, which comprises a driver and a driver supporting arm, wherein one end of the driver supporting arm is arranged on a front windshield, the other end of the driver supporting arm is connected with the driver, the driver is arranged on the steering wheel, the driver comprises a steering wheel clamp, an electromagnetic clutch and a motor, the electromagnetic clutch is fixed on the steering wheel clamp, and the motor is fixed on the electromagnetic clutch; when the electromagnetic clutch is in attraction, the motor drives the steering wheel to rotate through the electromagnetic clutch; when the electromagnetic clutch is separated, the steering wheel is not driven by the motor; the electromagnetic clutch and the motor are also jointly connected with a controller, the functions of the controller comprise motor control, electromagnetic clutch control and loudspeaker control, detection and control logics of the connecting pipe are added, and automatic switching of man-machine driving is achieved by means of the clutch. Compared with the prior art, the invention has the advantages of reducing the interference to human drivers and ensuring the automatic seamless switching of human/machine during manual intervention.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle steering wheel control system capable of automatically switching driving between man-machine mode and automatic-switching mode.
Background
With the development of artificial intelligence technology, the unmanned technology related to the artificial intelligence technology also becomes a hot topic of research in universities and companies around the world. At present, although a part of unmanned vehicle research and development mechanisms can obtain a drive-by-wire protocol of a used vehicle, and can control a steering wheel, gears and acceleration and deceleration through a bottom layer protocol, most research and development mechanisms cannot obtain the complete drive-by-wire protocol of the vehicle. The invention patent with publication number CN103863381A discloses a steering wheel control device for an unmanned vehicle, which provides a new idea for the modification of a common vehicle. For example: additionally installing a computing platform, adding a sensor, adding a steering wheel and a gear control mechanism and the like. Therefore, the functions of steering, gear shifting, acceleration and deceleration and the like are realized. The automatic driving device can be additionally arranged on the existing vehicle by various research institutions and companies, and the transformation of the existing vehicle is realized.
With the progress of technology, new requirements are put on the modified automatic driving device, such as the requirement of realizing man-machine driving, namely that more people and computers can realize vehicle driving and seamless switching at any time. This requirement is very necessary in the development of autonomous driving systems and in vehicles that will be operated in the future. According to the definition of the SAE J3016 standard, driving automation systems from level L0 to level L3 all require a human driver as a dynamic driving task backup, meaning that driving control can be taken over when necessary. Even when level L4 autopilot is reached, human drivers need to take over driving control beyond the design operating area because the system cannot cover all driving scenarios. The essence of the takeover is the problem of switching the driving control right of the vehicle between human and machine, and the takeover can be divided into passive takeover initiated by an automatic driving system and active intervention initiated by a user according to different initiators and executors of the driving right switching. The passive take-over is described as: the automatic driving system sends a take-over request to the user, and the user responds by controlling the transverse and longitudinal movement control mode. Passive take-over emphasizes that initiated by the autopilot system, the user is passively performing. The case of active intervention is: when the user is still in the active state of the automatic driving system, the human driver actively controls the equipment to achieve the control purpose. Active intervention emphasizes active initiation by the user. The principle of taking over must be that the performance of the autopilot system does not meet the design use expectations expected by humans. The reasons for takeover may be varied, both for active takeover based on safety and regulatory considerations, and for forced takeover with system limitations, and for intervention takeover when human expectations are not met. Although the reasons for take over vary, the principle of take over must be that the performance of the autopilot system does not meet the design use expectations expected by humans.
In order to solve the problem that the steering of the steering wheel cannot be controlled through a wire control protocol, a steering wheel steering mechanism which is simple in structure, strong in transportability and capable of meeting unmanned driving and driver control requirements is needed. In view of the above, many mechanisms have proposed solutions, but the existing steering wheel control devices either cannot be switched to the driver control mode, or can be controlled by the driver by detaching or closing the device, and cannot transfer the steering wheel control right to the safety personnel when danger occurs; or the steering wheel and the control device need to be separated through keys, and danger can be caused by untimely switching in an emergency.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing an automatic driver-switching steering wheel control system for an unmanned vehicle that satisfies both unmanned driving and driver control. On the basis of the invention patent with publication number CN103863381A, a steering wheel control device for an unmanned vehicle is disclosed, and the automatic driving device is lightened and redesigned, so that the interference to a human driver is reduced, and the automatic seamless switching of human/machine during manual intervention is ensured. The device can be used for all scientific research institutions or unmanned vehicles transformed by traditional vehicles.
The purpose of the invention can be realized by the following technical scheme:
a steering wheel control system of an unmanned vehicle with automatic man-machine switching driving comprises a driver and a driver supporting arm, wherein one end of the driver supporting arm is arranged on a front windshield, the other end of the driver supporting arm is connected with the driver, the driver is arranged on the steering wheel, the driver comprises a steering wheel clamp and a motor, the driver further comprises an electromagnetic clutch, the electromagnetic clutch is fixed on the steering wheel clamp, and the motor is fixed on the electromagnetic clutch;
when the electromagnetic clutch is in attraction, the motor drives the steering wheel to rotate through the electromagnetic clutch; when the electromagnetic clutch is disengaged, the steering wheel is not driven by the motor.
Further, the motor is connected with a controller, and the controller is also connected with the electromagnetic clutch.
Further, when the motor rotates and the electromagnetic clutch is in attraction, the controller acquires the current value of the motor in real time and judges whether the acquired current value is within the range of the upper limit and the lower limit of the preset normal current threshold, if so, the electromagnetic clutch continues to be in attraction, and if not, the electromagnetic clutch is controlled to be separated.
Further, when the magnetic clutch is attracted, and the motor controls the steering wheel to keep the position fixed, the controller acquires the angle deviation of the motor in real time, and judges whether the acquired angle deviation is within a preset angle deviation threshold range, if so, the electromagnetic clutch continues to be attracted, and if not, the electromagnetic clutch is controlled to be separated.
Further, the unmanned vehicle steering wheel control system also comprises a loudspeaker, the loudspeaker is connected with the controller, when the unmanned vehicle needs to be taken over by a driver passively, the controller sends a loudspeaker starting command, and sends alarm information through the loudspeaker to remind the driver to take over the steering wheel; and when the electromagnetic clutch is separated, the controller sends out a loudspeaker closing command to stop the alarm information.
Further, the controller is a vehicle-mounted industrial personal computer of the unmanned vehicle.
Further, the vehicle-mounted industrial personal computer reads the state of the motor through a CAN protocol.
Further, the driver support arm includes vacuum chuck, universal joint, telescopic support arm, connection clip and motor extension rod, vacuum chuck is used for adsorbing on the front windshield in the car, the universal joint is connected between vacuum chuck and telescopic support arm, is used for adjusting vacuum chuck's angle, the motor extension rod is fixed one side of motor, the motor extension rod is fixed on connecting clip through hand-screw, telescopic support arm is fixed on connecting clip through hand-screw.
Further, the steering wheel clamp is fixed on a steering wheel of the unmanned vehicle.
Further, the steering wheel clamp is fixed to the inner side of the steering wheel of the unmanned vehicle through a plurality of clamping jaws.
Compared with the prior art, the invention has the following advantages:
(1) the invention adds an electromagnetic clutch to the connection of a steering control motor and a steering wheel; the steering wheel can be controlled by a computer through the clutch suction, and the steering wheel is taken over by an automatic driving system; the motor and the steering wheel can be controlled through the separation of the clutch, so that the safety of a human driver is realized, and seamless connection is realized.
(2) The invention can automatically detect whether a driver takes over the steering wheel, and automatically separate and control the motor and the steering wheel when the driver takes over the steering wheel, so as to intervene in time when a dangerous condition occurs. When program control is needed again, the clutch is closed to achieve automatic rotation of the steering wheel, scientific research institutions are facilitated, and safety is improved.
(3) The system has higher expansibility and practicability and lighter design. The mechanical structure and the circuit structure are simple, the sucker is fixed, the mounting and the dismounting are convenient, the mechanical structure and the circuit structure are suitable for different vehicle types, the refitting is convenient, the expansibility is strong, and the practicability is high.
(4) The invention also prompts a human driver to realize passive takeover through a sound alarm mechanism, and then separates the clutch after detecting the access of the driver so as to realize the safe takeover of the vehicle.
Drawings
Fig. 1 is a schematic structural diagram of an apparatus of an unmanned vehicle steering wheel control system for automatic man-machine switching driving provided in an embodiment of the present invention;
FIG. 2 is a cross-sectional view of an electromagnetic clutch provided in an embodiment of the present invention; the clutch is an electromagnetic mechanical connector which enables two parts in a mechanical transmission system to rotate by utilizing an electromagnetic induction principle and friction force between an inner friction plate and an outer friction plate, and a driven part can be combined with or separated from the driving part under the condition that the driving part does not stop rotating;
in the figure, the device comprises a vacuum sucker 1, a universal joint 2, a telescopic supporting arm 3, a hand screw 4, a connecting clamp 5, a motor extension rod 6, a motor 7, a motor 8, an electromagnetic clutch 9 and a steering wheel clamp.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Example 1
As shown in fig. 1 and 2, the present embodiment provides a steering wheel control system of an unmanned vehicle with automatic man-machine switching driving, comprising a driver and a driver supporting arm, wherein one end of the driver supporting arm is arranged on a front windshield, the other end of the driver supporting arm is connected with the driver, the driver is arranged on the steering wheel, the driver comprises a steering wheel clamp 9 and a motor 7, and the steering wheel control system is characterized in that the driver further comprises an electromagnetic clutch 8, the electromagnetic clutch 8 is fixed on the steering wheel clamp 9, and the motor 7 is fixed on the electromagnetic clutch 8;
when the electromagnetic clutch 8 is in attraction, the motor 7 drives the steering wheel to rotate through the electromagnetic clutch 8; when the electromagnetic clutch 8 is disengaged, the steering wheel is not driven by the motor 7.
The motor 7 is connected with a controller, the controller is also connected with an electromagnetic clutch 8, and the controller is preferably an on-vehicle industrial personal computer of an unmanned vehicle.
As an optional implementation manner, when the motor 7 rotates and the electromagnetic clutch 8 is engaged, the controller acquires the current value of the motor 7 in real time, and determines whether the acquired current value is within the upper and lower limits of the preset normal current threshold, if so, the electromagnetic clutch 8 continues to be engaged, and if not, the electromagnetic clutch 8 is controlled to be disengaged.
Specifically, the invention can automatically detect whether the driver takes over the steering wheel actively and separate the driving device from the steering wheel in time, and the principle is as follows. When the motor 7 drives the steering wheel to rotate at a certain constant angular speed, the voltage U is constant according to the formula T ω UI, and the torque T is proportional to the current I. Under normal working conditions, the upper and lower thresholds of the variation range of the torque and the current can be obtained through testing. When the driver attempts to turn the steering wheel, the torque T changes beyond the normal range, which changes are reflected in real time to the change in current. Therefore, under the working condition that the motor 7 drives the steering wheel to rotate, the current of the motor 7 CAN be read in real time through a CAN protocol by using an on-vehicle industrial personal computer, the change of the current is analyzed, and whether the driver tries to rotate the steering wheel or not is judged through the current change range. When the variation range of the current exceeds the upper limit and the lower limit of the normal threshold, the clutch is separated through the vehicle-mounted controller, and the control right is handed to the driver.
As an optional implementation manner, when the magnetic clutch is engaged, and the motor 7 controls the steering wheel to keep the position fixed, the controller obtains the angle deviation of the motor 7 in real time, and determines whether the obtained angle deviation is within a preset angle deviation threshold range, if so, the electromagnetic clutch 8 continues to be engaged, and if not, the electromagnetic clutch 8 is controlled to be disengaged.
Specifically, when the motor 7 fixes the steering wheel at a certain angle, the angular deviation of the motor 7 is also within a certain threshold range, which can be obtained through testing. At this time, if the driver tries to turn the steering wheel, the angular deviation of the motor 7 increases drastically and far exceeds the threshold range. Therefore, under the working condition that the motor 7 fixes the steering wheel at a certain angle, the embedded controller CAN be utilized to read the position deviation of the motor 7 in real time through the CAN protocol, and whether the driver tries to rotate the steering wheel or not is judged by analyzing the variation range of the position deviation. When the position deviation exceeds the threshold range, the clutch is disengaged, and the control right is given to the driver. Realizing the active connection of the steering wheel.
As an optional implementation manner, the steering wheel control system of the unmanned vehicle further comprises a speaker, wherein the speaker is connected with the controller, when the unmanned vehicle needs to be taken over by a driver passively, the controller sends out a speaker starting command, and sends out alarm information through the speaker to remind the driver to take over the steering wheel; when the electromagnetic clutch 8 is separated, the controller sends out a loudspeaker closing command to stop the alarm information.
In particular, the system also supports passive take-over of the steering wheel, which occurs when the autopilot system encounters an unmanageable problem, informing the driver to take over the steering wheel. At the moment, the clutch is released when the system is changed to alarm through sound and a user is detected to take over the steering wheel, so that the connection between the automatic driving system and the steering wheel of the vehicle is released, and barrier-free and conflict-free driving of human drivers is realized.
In this embodiment, the driver support arm includes vacuum chuck 1, universal joint 2, telescopic support arm 3, connect fastener 5 and motor extension rod 6, vacuum chuck 1 is used for adsorbing on car front windshield, universal joint 2 is connected between vacuum chuck 1 and telescopic support arm 3, an angle for adjusting vacuum chuck 1, motor extension rod 6 fixes the one side at motor 7, motor extension rod 6 is fixed on connecting fastener 5 through hand-screwed screw 4, telescopic support arm 3 fixes on connecting fastener 5 through hand-screwed screw 4, steering wheel anchor clamps 9 fix on the steering wheel of unmanned car, steering wheel anchor clamps 9 fix the inboard at the steering wheel of unmanned car through a plurality of clamping jaws.
Specifically, the vacuum chuck 1 is used to fix the entire mechanism to a front windshield in a vehicle. The universal joint 2 is arranged between the sucker and the supporting arm and used for adjusting the angle of the sucker. The telescopic supporting arm 3 is used for connecting a driving mechanism comprising a motor 7, a clutch and a steering wheel clamp 9 with the vacuum chuck 1. The telescopic supporting arm is designed, and the hand-screwed screws 4 and the detachable connecting clamps 5 are matched, so that the position relation between the supporting arm and the driving mechanism can be adjusted, the telescopic supporting arm is convenient to mount and can be adapted to different vehicle types. The motor 7 is used for driving the steering wheel to move, and the state of the motor 7 CAN be read and controlled by a CAN protocol by utilizing a vehicle-mounted industrial personal computer. The clutch is used for controlling the connection state of the motor 7 and the steering wheel: when the clutch is closed, the motor 7 drives the steering wheel to rotate through the clutch; when the clutch is disengaged, the rotation of the motor 7 cannot affect the steering wheel, which can be left to the driver. The small motor 7 and the clutch are selected, so that the invasion to the riding space of a driver is reduced, and the comfort level of the driver is improved. The steering wheel is fixed with the driving mechanism by the steering wheel clamp, and the steering wheel clamp is suitable for steering wheels with different sizes by adopting a design with adjustable size. When in design, the connecting part of the steering wheel clip and the steering wheel is in smooth transition, so that the uncomfortable feeling of a driver for operating the steering wheel is reduced as much as possible. Compared with the steering wheel control device for the unmanned vehicle disclosed by the invention with the publication number of CN103863381A, the steering wheel control device for the unmanned vehicle is light in hardware design, reduces the sizes of the motor 7 and the speed reducer, and is additionally provided with the electromagnetic clutch 8 and the loudspeaker, namely the parts with the numbers of 4-10 in the figure 1, and the functions of the controller comprise the control of the motor 7, the control of the electromagnetic clutch 8 and the control of the loudspeaker. The software is added with the detection and control logic of the take-over, and the automatic switching of the man/machine driving is realized by means of the clutch.
A more preferred embodiment can be obtained by arbitrarily combining the above preferred embodiments, and a specific implementation procedure of the most preferred embodiment obtained by combining all the embodiments will be specifically described below.
The installation process of the steering wheel control system of the unmanned vehicle is as follows:
s11: fixing the steering wheel clamp 9 in parallel with the steering wheel, and aligning the center of the steering wheel clamp 9 with the center of the steering wheel;
s12: fixing the clutch 8 at the center of the steering wheel clamp 9;
s13: fixing a motor 7 on an electromagnetic clutch 8 through a flange;
s14: fixing a motor extension rod 6 at one side of a motor 7;
s15: fixing a motor extension rod 6 on a connecting clamp 5 through a hand-screwed screw 4;
s16: fixing the telescopic supporting arm 3 on the connecting clamp 5 through a hand-screwed screw 4;
s17: fixing the universal joint 2 at the other end of the telescopic supporting arm 3;
s18: fixing a vacuum chuck 1 on a universal joint 2;
s19: the vacuum chuck 1 is adsorbed on the front windshield in the vehicle.
The working condition I is as follows: when the motor 7 drives the steering wheel to rotate, a driver tries to take over the steering wheel;
s21: when the motor 7 drives the steering wheel to rotate with fixed torque, the current of the motor 7 is in direct proportion to the torque of the steering wheel;
s22: when a driver rotates a steering wheel, the torque of the motor 7 changes, and the current changes along with the change;
s23: on an unmanned vehicle, a vehicle-mounted industrial personal computer CAN be used for reading the current change of the motor 7 through a CAN (controller area network) protocol, and when the current exceeds a threshold range, the switch of the clutch 8 is switched off through the controller;
s24: the clutch 8 is disengaged, the rotation of the motor no longer affects the steering wheel, and the control of the steering wheel is passed to the driver.
Working conditions are as follows: when the motor 7 fixes the steering wheel at a certain angle and the driver tries to take over the steering wheel;
s31: when the motor 7 fixes the steering wheel at a certain angle, the angle error of the motor is maintained at a smaller level, and the range can be obtained through testing;
s32: when a driver rotates a steering wheel, the angle error of the motor 7 can be greatly increased and far exceeds the angle error in the fixed state;
s33: reading the angle error of the motor 7 by using a vehicle-mounted industrial personal computer through a CAN (controller area network) protocol, and disconnecting the switch of the clutch 8 through a controller when the angle error of the motor 7 exceeds a threshold range;
s34: the clutch 8 is disengaged, the rotation of the motor no longer affects the steering wheel, and the control of the steering wheel is passed to the driver.
And a third working condition: when the automatic control system controls the steering wheel and needs a driver to take over the steering wheel passively;
s41: firstly, the alarm information is sent out through a loudspeaker to remind a driver to prepare to take over a steering wheel
S42: the system detects that when the driver attempts to turn the steering wheel, the system finds a difference between the current set value and the detected value, and determines to hand the steering wheel to a human driver
S43: and releasing the clutch and releasing the alarm. The system is completely taken over by a human driver, and the steering wheel control motor is not physically connected with the steering wheel, so that the rotating resistance of the steering wheel of the human driver is reduced.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The unmanned vehicle steering wheel control system capable of automatically switching driving between man and machine comprises a driver and a driver supporting arm, wherein one end of the driver supporting arm is arranged on a front windshield, the other end of the driver supporting arm is connected with the driver, the driver is arranged on a steering wheel, the driver comprises a steering wheel clamp (9) and a motor (7), and the unmanned vehicle steering wheel control system is characterized in that the driver further comprises an electromagnetic clutch (8), the electromagnetic clutch (8) is fixed on the steering wheel clamp (9), and the motor (7) is fixed on the electromagnetic clutch (8);
when the electromagnetic clutch (8) is in attraction, the motor (7) drives the steering wheel to rotate through the electromagnetic clutch (8); when the electromagnetic clutch (8) is separated, the steering wheel is not driven by the motor (7).
2. The unmanned vehicle steering wheel control system for automatic man-machine switching driving according to claim 1, wherein the electric motor (7) is connected with a controller, and the controller is also connected with the electromagnetic clutch (8).
3. The unmanned vehicle steering wheel control system capable of automatically switching driving between man-machine modes according to claim 2, wherein when the motor (7) rotates and the electromagnetic clutch (8) is engaged, the controller acquires the current value of the motor (7) in real time and judges whether the acquired current value is within the range of the upper limit and the lower limit of the preset normal current threshold, if so, the electromagnetic clutch (8) continues to be engaged, and if not, the electromagnetic clutch (8) is controlled to be disengaged.
4. The unmanned vehicle steering wheel control system capable of automatically switching driving between man-machine modes according to claim 2, wherein when the magnetic clutch is engaged and the motor (7) controls the steering wheel to keep fixed in position, the controller acquires the angle deviation of the motor (7) in real time and judges whether the acquired angle deviation is within a preset angle deviation threshold range, if so, the electromagnetic clutch (8) continues to be engaged, and if not, the electromagnetic clutch (8) is controlled to be disengaged.
5. The unmanned vehicle steering wheel control system capable of automatically switching driving between man-machine modes is characterized by further comprising a loudspeaker, wherein the loudspeaker is connected with the controller, when the unmanned vehicle needs to be taken over by a driver passively, the controller sends a loudspeaker starting command, and sends alarm information through the loudspeaker to remind the driver to take over a steering wheel; and when the electromagnetic clutch (8) is separated, the controller sends out a loudspeaker closing command to stop the alarm information.
6. The unmanned vehicle steering wheel control system capable of automatically switching driving between man-machine modes according to claim 2, wherein the controller is a vehicle-mounted industrial personal computer of the unmanned vehicle.
7. The unmanned vehicle steering wheel control system for automatic man-machine switching driving according to claim 6, wherein the vehicle-mounted industrial personal computer reads the state of the motor (7) through CAN protocol.
8. The unmanned vehicle steering wheel control system for automatic man-machine switching driving, according to claim 1, wherein the driver support arm comprises a vacuum chuck (1), a universal joint (2), a telescopic support arm (3), a connecting clip (5) and a motor extension rod (6), the vacuum chuck (1) is used for being adsorbed on a front windshield in a vehicle, the universal joint (2) is connected between the vacuum chuck (1) and the telescopic support arm (3) and used for adjusting the angle of the vacuum chuck (1), the motor extension rod (6) is fixed on one side of the motor (7), the motor extension rod (6) is fixed on the connecting clip (5) through a hand screw (4), and the telescopic support arm (3) is fixed on the connecting clip (5) through the hand screw (4).
9. The unmanned vehicle steering wheel control system for automatic man-machine switching driving according to claim 1, wherein the steering wheel clamp (9) is fixed to a steering wheel of the unmanned vehicle.
10. An unmanned vehicle steering wheel control system for automated man-machine-switched driving according to claim 9, wherein the steering wheel clamp (9) is fixed inside the steering wheel of the unmanned vehicle by a plurality of clamping jaws.
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| CN202210334727.8A CN114715256A (en) | 2022-03-31 | 2022-03-31 | Unmanned vehicle steering wheel control system capable of automatically switching driving between man and machine |
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| CN202210334727.8A CN114715256A (en) | 2022-03-31 | 2022-03-31 | Unmanned vehicle steering wheel control system capable of automatically switching driving between man and machine |
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