CN116198584A - Control method and control system for steering-by-wire folding steering wheel - Google Patents
Control method and control system for steering-by-wire folding steering wheel Download PDFInfo
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- CN116198584A CN116198584A CN202310002592.XA CN202310002592A CN116198584A CN 116198584 A CN116198584 A CN 116198584A CN 202310002592 A CN202310002592 A CN 202310002592A CN 116198584 A CN116198584 A CN 116198584A
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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
- 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
- B62D1/16—Steering columns
- B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
- B62D1/181—Steering columns yieldable or adjustable, e.g. tiltable with power actuated adjustment, e.g. with position memory
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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
- B62D1/16—Steering columns
- B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
- B62D1/187—Steering columns yieldable or adjustable, e.g. tiltable with tilt adjustment; with tilt and axial adjustment
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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
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Abstract
The invention provides a control method of a steering-by-wire folding steering wheel, which comprises the steps of selecting a calibration flow, an unfolding flow or a folding flow through a control system; and then the controller executes a calibration flow, an unfolding flow or a folding flow according to the instruction of the control system. The zero position of the steering-by-wire folding steering wheel is set as a system zero position by the calibration flow, the folding flow is folded from a user-defined position set by the control system to the system zero position, and the unfolding flow is unfolded from the system zero position to the user-defined position set by the control system. The invention also comprises a control system using the control method, and the controller is used for respectively controlling the folding mechanism, the telescopic mechanism and the tilting mechanism on the steer-by-wire steering column assembly and the folding steering wheel assembly to realize the automatic adjustment of the steering-by-wire folding steering wheel. By setting the user-defined module and the obstacle detection method, the steering wheel is adjusted to a proper position according to the requirement of a user, and the operation safety of the steering-by-wire folding steering wheel is ensured.
Description
Technical Field
The present invention relates to a steering wheel for a vehicle, and more particularly, to a control method and a control system for a folding steering wheel.
Background
During driving of a car, the driver steers the car through the steering wheel. With the development of automobile autopilot and intelligent cabin technology in recent years, the role of a steering wheel is weakened from indispensable to provide a part of driving fun necessary for drivers, or the steering wheel exists in the cabin as a driving sign decoration of an automobile, and at this time, the steering wheel needs to have the characteristics of deformable storage so as to save space and also needs to keep driving functions so as to ensure that the functions of the automobile are realized when the automobile is switched from autopilot to manual driving.
The prior steering wheel has the following defects in the actual use process. Firstly, the existing steering wheels for the automatic driving automobiles are mostly fixed steering wheels, and the steering wheels cannot be folded in a width mode, so that the space is occupied when the automatic driving automobiles are not used; secondly, the existing steering wheel is mostly incapable of controlling the extension and retraction of the steering wheel by one key, so that the practicability of the steering wheel is poor; and, can not be convenient according to user's demand, adjust the steering wheel suitable position in the cockpit.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a control method and a control system for a steer-by-wire folding steering wheel, which are used for solving the problem that the steering wheel in the prior art can be folded effectively when not in use; and the problem of proper position and posture of the steering wheel can be adjusted according to the requirements of the driver.
To achieve the above and other related objects, the present invention provides a control method for a steer-by-wire folding steering wheel, comprising:
step S1: selecting a calibration procedure, an unfolding procedure or a folding procedure through a control system, wherein the calibration procedure sets a zero position of the steering-by-wire folding steering wheel as a system zero position, the folding procedure folds the steering-by-wire folding steering wheel from a user-defined position set by the control system to the system zero position, and the unfolding procedure unfolds the steering-by-wire folding steering wheel from the system zero position to the user-defined position set by the control system;
step S2: and executing the calibration flow, the unfolding flow or the folding flow of the steering-by-wire folding steering wheel by the controller according to the instruction of the control system.
In an embodiment of the present invention, in the step S1, the calibration process is controlled by the control system, through a controller, to move the folding mechanism and the telescopic mechanism of the control system to respective minimum limit and move the tilting mechanism to a maximum limit respectively, and the acquired position parameter is set as the system zero position.
In an embodiment of the present invention, the step S1 further includes a user-defined process, where a user sets user-defined positions set by the control system of the folding structure, the telescopic mechanism, and the tilting structure, respectively, through the control system.
In an embodiment of the present invention, in the calibration procedure of the step S2, after the controller obtains the zero position of the system, the controller respectively controls the folding mechanism and the telescopic mechanism to move to respective maximum limit and the tilting mechanism to move to minimum limit, and the controller obtains and calculates corresponding maximum displacement distance parameters of the folding mechanism, the telescopic mechanism and the tilting mechanism, and stores the parameters in the control system; the controller obtains parameters of the user-defined position set by the control system and moves the folding structure, the telescopic mechanism and the inclined structure to the user-defined position set by the control system respectively.
In an embodiment of the present invention, in the folding process of step S2, after the controller receives a folding instruction of the control system, the controller controls the folding structure, the telescopic mechanism and the tilting structure to fold from a user-defined position set by the control system to the zero position of the system respectively.
In an embodiment of the present invention, in the expanding process of the step S2, the controller receives an expanding instruction of the control system, and the controller controls the folding structure, the telescopic mechanism and the tilting structure to move from the system zero position to the user-defined position set by the control system respectively.
In an embodiment of the present invention, the step S2 further includes an obstacle detection step, wherein driving motors are respectively disposed on the folding structure, the telescopic mechanism, and the tilting structure, and the control system acquires current information of the driving motors in real time; when the folding structure, the telescopic mechanism and the inclined structure meet obstacles, so that the driving motor stops running, and the control system monitors that the current of the driving motor is abnormal, a stop instruction is sent to the controller.
The invention also provides a control system using the control method, which comprises:
a controller;
the steering column assembly comprises a telescopic mechanism and a tilting mechanism, and the controller is used for respectively controlling the tilting mechanism and the telescopic mechanism to displace along the axial direction and the radial direction of the steering column assembly;
the folding steering wheel assembly comprises a folding mechanism, and the controller controls the folding mechanism to displace along the radial direction of the folding steering wheel assembly.
In an embodiment of the present invention, the telescopic mechanism includes a first driving motor and a first hall sensor, the first driving motor is disposed on one side of a steering column of the steer-by-wire steering column assembly, and the first driving motor drives the steering column to displace in an axial direction of the steer-by-wire steering column assembly; the first Hall sensor is arranged on one side of the magnetic ring of the first driving motor, detects that the first driving motor rotates, and sends a detection signal to the controller.
In an embodiment of the present invention, the tilting mechanism includes a second driving motor and a second hall sensor, the second driving motor is disposed on a steering column support of the steer-by-wire steering column assembly, and the second driving motor drives the steering column support to displace in a radial direction of the steer-by-wire steering column assembly; the second Hall sensor is arranged on one side of the magnetic ring of the second driving motor, detects that the second driving motor rotates, and sends a detection signal to the controller.
In an embodiment of the invention, the folding mechanism includes a third driving motor and a third hall sensor, the third driving motor is arranged on the folding steering wheel frame, and the third driving motor drives the steering wheel assembly to displace in the radial direction of the folding steering wheel frame; the third Hall sensor is arranged on one side of the magnetic ring of the third driving motor, detects that the third driving motor rotates, and sends a detection signal to the controller.
As described above, the control method and the control system for the steer-by-wire folding steering wheel of the invention have the following beneficial effects:
the telescopic folding steering wheel is convenient to automatically extend the steering wheel base through the mutual matching of the folding components, is convenient to use for driving, and has a simple structure and convenient operation; when not needing to use, be convenient for fold the dish width and hide to reduce the space and occupy, effectively alleviate the inside space of car. Through the calibration program and the user-defined program, the steering wheel can be effectively adjusted by a user according to the self requirements, and the convenience of later maintenance is improved.
Drawings
Fig. 1 is a general flow chart of a control method of a steer-by-wire folding steering wheel according to the present invention.
FIG. 2 is a flow chart of a control method according to a preferred embodiment of the invention.
FIG. 3 is a flow chart of a user-defined process of the control method according to a preferred embodiment of the present invention.
Fig. 4 is a flow chart of a preferred embodiment of the obstacle detection flow of the control method of the present invention.
Fig. 5 is a schematic system architecture diagram of a control system for a steer-by-wire folding steering wheel according to the present invention.
FIG. 6 is a schematic diagram of a system architecture of a control system according to a preferred embodiment of the present invention.
FIG. 7 is a schematic diagram of a telescopic structure of a control system according to a preferred embodiment of the present invention.
FIG. 8 is a schematic view of a tilting mechanism of the control system according to a preferred embodiment of the present invention.
FIG. 9 is a schematic view of a folding structure of a control system according to a preferred embodiment of the present invention.
Fig. 10 is a schematic diagram of a driving motor structure of the control system of the present invention.
Fig. 11 is a schematic view of the structure of fig. 10 at another angle.
Description of element reference numerals
A first drive motor 11, a first screw 12, a first threaded socket 13, a first link 14;
a second drive motor 21, a second screw 22, a second threaded socket 23, a second connecting rod 24;
a third drive motor 31, a third screw 32, a third threaded socket 33, a third link 34;
the driving motor 4, the motor body 41, the motor tail shell 42, the motor rotating shaft 43, the magnetic ring 44, the magnetic ring S pole 441, the magnetic ring N pole 442 and the Hall sensor 45;
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. It is also to be understood that the terminology used in the examples of the invention is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the invention. The test methods in the following examples, in which specific conditions are not noted, are generally conducted under conventional conditions or under conditions recommended by the respective manufacturers.
Please refer to fig. 1 to 11. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
Referring to fig. 1 to 4, the present invention provides a control method for a steer-by-wire folding steering wheel. In step S1, a calibration procedure, an unfolding procedure or a folding procedure is selected by the control system, the calibration procedure sets the zero position of the steer-by-wire folding steering wheel as a system zero position, the folding procedure folds the steer-by-wire folding steering wheel from a user-defined position set by the control system to the system zero position, the unfolding procedure unfolds the steer-by-wire folding steering wheel from the system zero position to a user-defined position set by the control system in step S2, and the controller executes the calibration procedure, the unfolding procedure or the folding procedure of the steer-by-wire folding steering wheel according to the instruction of the control system. In an embodiment of the present invention, in step S1, the calibration process is controlled by the control system, and the controller controls the folding mechanism and the telescopic mechanism of the control system to move to respective minimum limit and the tilting mechanism to move to maximum limit respectively, and sets the acquired position parameter as a system zero position. Step S1 also comprises a user-defined process, wherein a user sets user-defined positions set by the control system of the folding structure, the telescopic mechanism and the tilting structure respectively through the control system. In the calibration flow of the step S2, after the controller acquires the zero position of the system, the folding mechanism and the telescopic mechanism are respectively controlled to move to the respective maximum limit and the tilting mechanism to move to the minimum limit, and the controller acquires and calculates the corresponding maximum displacement distance parameters of the folding structure, the telescopic mechanism and the tilting structure and stores the parameters into the control system; the controller obtains parameters of the user-defined position set by the control system and moves the folding structure, the telescopic mechanism and the inclined structure to the user-defined position set by the control system respectively. In the folding process of step S2, after receiving the folding instruction of the control system, the controller controls the folding structure, the telescopic mechanism and the tilting structure to move from the user-defined position set by the control system to fold to the zero position of the system respectively. In the expanding process of step S2, the controller receives an expanding instruction of the control system, and the controller respectively controls the folding structure, the telescopic mechanism and the tilting structure to move from the zero position of the system to the user-defined position set by the control system. The step S2 further comprises an obstacle detection step, wherein driving motors are respectively arranged on the folding structure, the telescopic mechanism and the inclined structure, and a control system acquires current information of the driving motors in real time; when the folding structure, the telescopic mechanism and the inclined structure meet the obstacle, the driving motor stops running, and the control system monitors that the current of the driving motor is abnormal, a stop instruction is sent to the controller. The control system may be an ECU electronic controller unit operating on the vehicle, or a controller or other suitable device operating on a large-screen in-vehicle. The controller may be an ECU controller or other suitable control unit.
Referring to fig. 2 to 4, a preferred embodiment of a control method for steering-by-wire folding steering wheel according to the present invention is shown. In step S11, the user selects to perform the calibration procedure, the expansion procedure or the folding procedure through the control system, and then the control system selects the control procedure according to the instruction, i.e. enters the calibration procedure, the expansion procedure or the folding procedure. When the calibration procedure is selected, the control system first executes step S211, that is, the controller sequentially generates instructions to move to the lower limit to the folding mechanism, the tilting mechanism and the telescopic mechanism one by one, and when the folding mechanism, the tilting mechanism and the telescopic mechanism move to the lower limit respectively, the controller records the position parameters of the folding mechanism, the tilting mechanism and the telescopic mechanism and sends the obtained position parameters to the control system. The control system records the position parameter as the zero position of the steer-by-wire folding steering wheel and updates the position count for that direction as the system zero position. Then, the control system executes step S212, that is, the controller sequentially generates instructions to move to the upper limit to the folding mechanism, the tilting mechanism and the telescopic mechanism one by one, and when the folding mechanism, the tilting mechanism and the telescopic mechanism move to the upper limit respectively, the controller records the position parameters of the folding mechanism, the tilting mechanism and the telescopic mechanism and sends the obtained position parameters to the control system. The control system records the position parameter as the limit position of the steer-by-wire folding steering wheel and updates the position count for that direction as the upper system limit. Next, the control system executes step S213, i.e. the controller acquires the user-defined position stored in the control system and calculates the coordinate information of the position of the steer-by-wire folding steering wheel that needs to be unfolded in three dimensions. Finally, the control system executes step S214, that is, the controller controls the folding mechanism, the tilting mechanism and the telescopic mechanism one by one, and expands to the user-defined position according to the user-defined coordinate position obtained by the controller. And the control system reaches a default unfolding position, and the calibration flow operation is completed. When the control system selects to execute the folding process, the controller first executes step S221, i.e. the controller first drives the folding mechanism to the minimum limit, and feeds back the position to the control system to reset the position count. Then, the controller executes step S222, i.e. the controller drives the tilting mechanism to the maximum limit, and feeds back the position to the control system to reset the position count. Finally, the controller executes step S223, i.e. the controller drives the telescopic mechanism to the minimum limit, and feeds back the position to the control system to reset the position count. At this time, the control system completes the folding flow operation and ends the operation. When the control system selects to execute the unfolding process, the controller first executes step S231, i.e. the controller first drives the folding mechanism to the user-defined position, and feeds back the position to the control system to reset the position count. Then, the controller executes step S232, i.e. the controller drives the tilting mechanism to the user-defined position and feeds back the position to the control system to reset the position count. Finally, the controller executes step S233, i.e. the controller drives the telescopic mechanism to the user-defined position, and feeds back the position to the control system to reset the position count. At this time, the control system completes the deployment flow operation and ends the operation.
When the user needs to adjust the position of the steering-by-wire folding steering wheel, user-defined operation can be performed through a user-defined module of the control system. First, the control system executes step S121, i.e., the controller first obtains the expansion ratio parameters of the folding mechanism, the tilting mechanism, and the telescopic mechanism stored in the control system in the folding direction, the tilting direction, and the telescopic direction. Then, the control system executes step S122, i.e. the user adjusts the expansion ratio parameters of the folding mechanism, the tilting mechanism and the telescopic mechanism in the folding direction, the tilting direction and the telescopic direction on the vehicle-mounted center-control large screen or other vehicle-mounted devices, respectively. Finally, the control system stores the expansion proportion parameters of the folding mechanism, the tilting mechanism and the telescopic mechanism in the folding direction, the tilting direction and the telescopic direction after the adjustment, namely the default position parameters of the control system. The controller executes the new unfolding position parameters on the control system, and unfolds the folding mechanism, the tilting mechanism and the telescopic mechanism to the new default position parameters of the control system respectively, so that the control system completes the operation.
The control method of the steering-by-wire folding steering wheel further comprises an obstacle detection method. First, the control system performs step S241, i.e., obtains the position counts of the folding mechanism, the tilting mechanism, and the telescopic mechanism, respectively, through the controller. Then, the control system executes step S242, i.e. the control system acquires current information of the driving motors on the folding mechanism, the tilting mechanism and the telescopic mechanism in real time. When abnormal parameters occur in the currents of the driving motors on the folding mechanism, the tilting mechanism and the telescopic mechanism, such as excessive or insufficient current, and the current exceeds a threshold for a certain time, the obstacle is considered to be encountered, the step S2431 is executed to avoid false triggering caused by current noise through the setting of the threshold, the obstacle is encountered when the folding mechanism, the tilting mechanism or the telescopic mechanism runs, and at the moment, the control system sends out operation stopping execution operation to the folding mechanism, the tilting mechanism and the telescopic mechanism through the controller, namely, the driving motor output is closed. When the current running of the driving motors on the folding mechanism, the tilting mechanism and the telescopic mechanism is stable, that is, the step S2432 is executed, the folding mechanism, the tilting mechanism and the telescopic mechanism are normal in running, and the control system continues to execute the operation output operation on the folding mechanism, the tilting mechanism and the telescopic mechanism according to the flow requirements through the controller.
The present invention also provides a control system using the aforementioned control method in combination with fig. 5, 6 and 10, comprising: a controller, a steer-by-wire column assembly, and a folding steering wheel assembly. The wire control steering column assembly comprises a telescopic mechanism and a tilting mechanism, and the controller respectively controls the tilting mechanism and the telescopic mechanism to displace along the axial direction and the radial direction of the wire control steering column assembly. The folding steering wheel assembly comprises a folding mechanism, and the controller controls the folding mechanism to displace along the radial direction of the folding steering wheel assembly. The telescopic mechanism comprises a first driving motor 11 and a first Hall sensor, the first driving motor 11 is arranged on one side of a steering column 52 of the steer-by-wire steering column assembly, and the first driving motor 11 drives the steering column 52 to displace in the axial direction of the steer-by-wire steering column assembly. The first hall sensor is provided on the magnetic ring 44 side of the first drive motor 11, detects that the first drive motor 11 rotates, and sends a detection signal to the controller. The tilting mechanism comprises a second driving motor 21 and a second Hall sensor, wherein the second driving motor 21 is arranged on a steering column 52 support of the wire control steering column assembly, and the second driving motor 21 drives the steering column 52 support to displace in the radial direction of the wire control steering column assembly. The second hall sensor is arranged on one side of the magnetic ring 44 of the second driving motor 21, detects that the second driving motor 21 rotates, and sends a detection signal to the controller. The folding mechanism comprises a third driving motor 31 and a third Hall sensor, the third driving motor 31 is arranged on the folding steering wheel framework, and the third driving motor 31 drives the steering wheel assembly 51 to displace in the radial direction of the folding steering wheel framework. The third hall sensor is arranged on one side of the magnetic ring 44 of the third driving motor 31, detects that the third driving motor 31 rotates, and sends a detection signal to the controller.
Fig. 10 and 11 are schematic diagrams of driving motor structures of the control system of the present invention, in which the telescopic mechanism, the tilting mechanism, and the folding mechanism each include one driving motor 4 and one hall sensor 45, that is, the first driving motor 11 and the first hall sensor on the telescopic mechanism, the second driving motor 21 and the second hall sensor on the tilting mechanism, and the third driving motor 31 and the third hall sensor on the folding mechanism. The drive motor 4 includes a motor body 41, a motor tail housing 42, and a motor shaft 43 provided inside the drive motor. The motor tail shell 42 is fixed on one side of the motor body 41, and a control circuit board and a Hall sensor 45 are fixed on the motor tail shell 42, wherein the Hall sensor 45 is fixedly connected with one end of the motor tail shell 42. The fixed circuit board is electrically connected with the controller, so that the controller can control the driving motor 4 to work and stop. The motor shaft 43 passes through the motor tail housing 42 and is connected in rolling motion. A magnetic ring 44 is fixed at one end of the motor shaft 43 near the motor tail shell 42. Magnet ring 44 includes a magnet ring S pole 441 and a magnet ring N pole 442. The magnetic ring S pole 441 and the magnetic ring N pole 442 are symmetrically wound around the motor shaft 43. According to the hall effect, the magnetic ring 44 rotates with the motor shaft 43, and the hall sensor 45 mounted on the motor tail housing 42 detects the change of the magnetic field to generate a pulse, i.e. the hall sensor 45 generates an induction signal once every rotation of the motor shaft 43. The sensing signal detected by the hall sensor 45 is sent to the controller, and then the controller records the signal to the control system, namely the control system is realized, and the position counting of the telescopic mechanism, the tilting mechanism and the folding mechanism is carried out through the hall signal.
Referring to fig. 6 to 9, a preferred embodiment of the steering-by-wire folding steering wheel control system of the present invention is shown. An actuator of a folding steering wheel control system includes: a steer-by-wire column assembly and a folding steering wheel assembly. The folding steering wheel assembly is mounted to the steering column 52 through mounting holes in the steering wheel assembly 51. The steer-by-wire column includes: a steering column 52, a steering column bracket 53, and a steering column shroud 54. The steering column sheath 54 is connected to the steering column bracket 53 through a mounting hole at the bottom, and the steering column sheath 54 can rotate around the mounting hole by a certain angle. The steering column 52 is disposed within the steering column shroud 54 such that the steering column 52 is axially movable along its own axis. The telescopic mechanism comprises a first drive motor 11, a first screw 12, a first threaded socket 13 and a first link 14. The first driving motor 11 rotates to drive the first screw rod 12 to rotate, and the first threaded sleeve 13 in threaded connection with the first screw rod 12 is displaced along the axial direction of the first screw rod 12. The first threaded pipe sleeve 13 is fixedly connected with the steering column 52 through the first connecting rod 14, so that when the controller controls the first driving motor 11 on the telescopic structure to rotate, the first driving motor 11 drives the first threaded pipe sleeve 13 through the first screw rod 12, and the steering column 52 connected with the first threaded pipe sleeve 13 through the first connecting rod 14 is displaced along the radial direction of the wire control steering column assembly. Simultaneously, the rotation of the first driving motor 11 is detected by the first hall sensor, and the obtained hall signal passes through the controller and is recorded by the displacement parameter of the telescopic mechanism by the control system.
The tilting mechanism includes: a second drive motor 21, a second screw 22, a second threaded socket 23 and a second connecting rod 24. The second driving motor 21 rotates to drive the second screw 22 to rotate, and the second threaded sleeve 23 in threaded connection with the second screw 22 is displaced along the axial direction of the second screw 22. The second threaded sleeve 23 is fixedly connected with the steering column support 53 through the second connecting rod 24, so that when the controller controls the second driving motor 21 on the tilting structure to rotate, the second driving motor 21 drives the second threaded sleeve 23 through the second screw 22, and the steering column support 53 connected with the second threaded sleeve 23 through the second connecting rod 24 is displaced along the axial direction of the steering column assembly. At the same time, the rotation of the second drive motor 21 is detected by the second hall sensor, and the obtained hall signal is passed through the controller and recorded by the control system as a displacement parameter of the tilting mechanism.
The folding mechanism is provided inside the steering wheel assembly 51, and includes a third drive motor 31, a third screw 32, a third threaded socket 33, and a third link 34. The third driving motor 31 rotates to drive the third screw 32 to rotate, and the third threaded sleeve 33 in threaded connection with the third screw 32 is displaced along the axial direction of the third screw 32. The third threaded sleeve 33 is fixedly connected with the steering wheel assembly 51 through the third connecting rod 34, so that when the controller controls the third driving motor 31 on the tilting structure to rotate, the third driving motor 31 drives the third threaded sleeve 33 through the third screw rod 32, and the steering wheel assembly 51 connected with the third threaded sleeve 33 through the third connecting rod 34, namely, the third driving motor 31 drives the steering wheel assembly 51 to displace in the radial direction of the steering wheel rotation center 511. At the same time, the rotation of the third driving motor 31 is detected by the second hall sensor, and the obtained hall signal is passed through the controller and recorded by the control system as the displacement parameter of the folding mechanism.
The invention relates to a control method and a control system for a steering folding steering wheel, wherein a telescopic mechanism, a tilting mechanism and a folding mechanism respectively comprise a driving motor and a Hall sensor, and the driving motor and the Hall sensor are integrated. The Hall sensor is arranged at one end of the driving motor, the tail part of the driving motor rotating shaft is provided with a magnetic ring, the south magnetic pole and the north magnetic pole of the magnetic ring are respectively half, the magnetic ring rotates along with the driving motor rotating shaft, and the Hall sensor arranged at the tail shell of the driving motor detects the change of a magnetic field to generate pulses. The obtained pulse is sent to a vehicle controller, so that the controller can acquire the movement positions of the telescopic mechanism, the tilting mechanism and the folding mechanism. Meanwhile, whether the telescopic mechanism, the tilting mechanism and the folding mechanism meet obstacles in the running process is obtained in real time by monitoring the current of the driving motor. And in a visual form, the user can customize the unfolding position of the steering wheel. The hardware circuit judges whether the movement of the steering wheel is blocked or not by detecting the current of the driving motor. The method is realized by detecting periodic square waves generated by the motor in each rotation through a Hall sensor, and updating a count on a controller. Then, through the control program, the controller calculates three coordinate points where the steering wheel is located. The controller and the driving motor can be electrically connected, or can be in other communication modes. The controller can realize the on-off of the controller to drive the motor through a relay or a transistor or other equipment. The calibration procedure is factory set or vehicle OTA upgrade is only implemented, and may not be set in the user interface. The folding flow and the unfolding flow can be the opening and closing operation of the vehicle or other trigger instructions of the control system, and are automatically executed by the controller, so that the automation is realized, and manual intervention is not needed. The user definition can be realized through a vehicle-computer interface, the user sets percentage values of three dimensions respectively, and the controller stretches and contracts to the coordinate position defined by the user proportionally.
In the folding process, the position technology of resetting the direction is carried out after the folding mechanism, the tilting mechanism and the telescopic mechanism are operated each time, and the invention also aims to ensure that the zero point of the control system can not cause the error accumulation of position counting because of repeated position counting. The position count is updated by the pulse and control direction of the hall sensor. The control system considers an obstacle to be encountered if it detects that the current of the drive motor exceeds a threshold for a certain time. The function of the above threshold setting is to avoid false triggering caused by current noise. If an obstacle exists, the output is closed, so that personnel injury and equipment damage are avoided; if there is no obstacle, the motor output is controlled according to the control demand given in the flow control.
In summary, the steering wheel is controlled to stretch in three dimensions by setting the calibration flow, the folding flow and the unfolding flow. The control system comprises a controller, a plurality of driving motors and a plurality of Hall sensors. The controller is provided with a program and a hardware circuit for realizing the control method, and the controller generates a control signal to the driving motor to adjust the folding steering wheel and obtains detection signals of the driving motor and the Hall sensor to realize the steering of the folding steering wheel. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (11)
1. A control method of a steer-by-wire folding steering wheel, comprising:
step S1: selecting a calibration procedure, an unfolding procedure or a folding procedure through a control system, wherein the calibration procedure sets a zero position of the steering-by-wire folding steering wheel as a system zero position, the folding procedure folds the steering-by-wire folding steering wheel from a user-defined position set by the control system to the system zero position, and the unfolding procedure unfolds the steering-by-wire folding steering wheel from the system zero position to the user-defined position set by the control system;
step S2: and executing the calibration flow, the unfolding flow or the folding flow of the steering-by-wire folding steering wheel by the controller according to the instruction of the control system.
2. The control method according to claim 1, characterized in that: in step S1, the calibration process is controlled by the control system, and the controller controls the folding mechanism and the telescopic mechanism of the control system to move to respective minimum limit and the tilting mechanism to move to maximum limit respectively, and sets the acquired position parameter as the system zero position.
3. The control method according to claim 1, characterized in that: step S1 further includes a user-defined procedure, where a user sets user-defined positions set by the control system of the folding structure, the telescopic mechanism, and the tilting structure, respectively, through the control system.
4. The control method according to claim 1, characterized in that: in the calibration flow in the step S2, after the controller acquires the zero position of the system, the controller respectively controls the folding mechanism and the telescopic mechanism to move to respective maximum limit and the tilting mechanism to move to minimum limit, and the controller acquires and calculates the corresponding maximum displacement distance parameters of the folding structure, the telescopic mechanism and the tilting structure and stores the parameters in the control system; the controller obtains parameters of the user-defined position set by the control system and moves the folding structure, the telescopic mechanism and the inclined structure to the user-defined position set by the control system respectively.
5. The control method according to claim 1, characterized in that: in the folding process in step S2, after receiving the folding instruction of the control system, the controller controls the folding structure, the telescopic mechanism and the tilting structure to move and fold from the user-defined position set by the control system to the zero position of the system respectively.
6. The control method according to claim 1, characterized in that: in the unfolding process in step S2, the controller receives an unfolding instruction of the control system, and the controller respectively controls the folding structure, the telescopic mechanism and the tilting structure to move from the system zero position to a user-defined position set by the control system.
7. The control method according to claim 1, characterized in that: the step S2 further comprises an obstacle detection step, wherein driving motors are respectively arranged on the folding structure, the telescopic mechanism and the inclined structure, and the control system acquires current information of the driving motors in real time; when the folding structure, the telescopic mechanism and the inclined structure meet obstacles, so that the driving motor stops running, and the control system monitors that the current of the driving motor is abnormal, a stop instruction is sent to the controller.
8. A control system using the control method according to claims 1-7, characterized in that the control system comprises:
a controller;
the steering column assembly comprises a telescopic mechanism and a tilting mechanism, and the controller is used for respectively controlling the tilting mechanism and the telescopic mechanism to displace along the axial direction and the radial direction of the steering column assembly;
the folding steering wheel assembly comprises a folding mechanism, and the controller controls the folding mechanism to displace along the radial direction of the folding steering wheel assembly.
9. The control system of claim 1, wherein: the telescopic mechanism comprises a first driving motor and a first Hall sensor, the first driving motor is arranged on one side of a steering column of the wire control steering column assembly, and the first driving motor drives the steering column to displace in the axial direction of the wire control steering column assembly; the first Hall sensor is arranged on one side of the magnetic ring of the first driving motor, detects that the first driving motor rotates, and sends a detection signal to the controller.
10. The control system of claim 1, wherein: the tilting mechanism comprises a second driving motor and a second Hall sensor, the second driving motor is arranged on a steering column support of the wire control steering column assembly, and the second driving motor drives the steering column support to displace in the radial direction of the wire control steering column assembly; the second Hall sensor is arranged on one side of the magnetic ring of the second driving motor, detects that the second driving motor rotates, and sends a detection signal to the controller.
11. The control system of claim 1, wherein: the folding mechanism comprises a third driving motor and a third Hall sensor, the third driving motor is arranged on the folding steering wheel framework, and the third driving motor drives the steering wheel assembly to displace in the radial direction of the folding steering wheel framework; the third Hall sensor is arranged on one side of the magnetic ring of the third driving motor, detects that the third driving motor rotates, and sends a detection signal to the controller.
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| CN202310002592.XA CN116198584B (en) | 2023-01-03 | 2023-01-03 | Control method and control system for steering-by-wire folding steering wheel |
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| DE743051C (en) * | 1942-05-27 | 1943-12-17 | Alfons Sollmann | Step ladder with footrest |
| US5957003A (en) * | 1996-08-10 | 1999-09-28 | Mst Automotive Gmbh | Armature for a motor-vehicle steering wheel |
| CN109911287A (en) * | 2019-04-02 | 2019-06-21 | 徐州盛斗士生物科技有限公司 | A kind of anti-lossless separation push type of card-type of yacon excavation packs thin vehicle |
| CN115257614A (en) * | 2022-07-25 | 2022-11-01 | 重庆长安汽车股份有限公司 | Intelligent automobile's overall process collision safety control system and car |
| CN117622315A (en) * | 2023-12-06 | 2024-03-01 | 清华大学 | Telescopic folding steer-by-wire road feel simulation device with self-locking function |
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- 2023-01-03 CN CN202310002592.XA patent/CN116198584B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE743051C (en) * | 1942-05-27 | 1943-12-17 | Alfons Sollmann | Step ladder with footrest |
| US5957003A (en) * | 1996-08-10 | 1999-09-28 | Mst Automotive Gmbh | Armature for a motor-vehicle steering wheel |
| CN109911287A (en) * | 2019-04-02 | 2019-06-21 | 徐州盛斗士生物科技有限公司 | A kind of anti-lossless separation push type of card-type of yacon excavation packs thin vehicle |
| CN115257614A (en) * | 2022-07-25 | 2022-11-01 | 重庆长安汽车股份有限公司 | Intelligent automobile's overall process collision safety control system and car |
| CN117622315A (en) * | 2023-12-06 | 2024-03-01 | 清华大学 | Telescopic folding steer-by-wire road feel simulation device with self-locking function |
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| CN116198584B (en) | 2024-06-18 |
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