CN117465541A - Redundant wire steering device for intelligent chassis and control method - Google Patents
Redundant wire steering device for intelligent chassis and control method Download PDFInfo
- Publication number
- CN117465541A CN117465541A CN202210894295.6A CN202210894295A CN117465541A CN 117465541 A CN117465541 A CN 117465541A CN 202210894295 A CN202210894295 A CN 202210894295A CN 117465541 A CN117465541 A CN 117465541A
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- steering
- control unit
- electronic control
- steering wheel
- motor
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 37
- 230000005856 abnormality Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
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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
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0493—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting processor errors, e.g. plausibility of steering direction
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a redundant wire control steering device for an intelligent chassis and a control method, wherein the device comprises the following components: the steering system comprises a rack-and-pinion mechanism, a steering column, a first steering motor, a second steering motor, a first gear reduction mechanism, a second gear reduction mechanism, an electromagnetic clutch, a first steering tie rod, a second steering tie rod, a first steering wheel, a second steering wheel, a steering column angle and moment sensor, a first steering wheel kingpin angle sensor, a second steering wheel kingpin angle sensor, a first electronic control unit and a second electronic control unit; the existing mature single-input-shaft gear-rack steering mechanism is adopted, the two motors drive the same steering column, and the steering column is simple in structure, small in space and low in cost. Under normal conditions, the first steering motor is controlled by the first electric control unit to execute steering action, and when the first electric control unit or the first steering motor fails, the second electric control unit and the second steering motor take over to execute steering action, so that the safety and reliability of the steer-by-wire system are improved.
Description
Technical Field
The invention relates to a steer-by-wire device and a control method, in particular to a redundant steer-by-wire device for an intelligent chassis and a control method.
Background
Along with the intelligent rapid development of automobiles, unmanned automobiles gradually appear in the life of people, and the intelligent chassis has high integration level and good universality and expandability, so that the unmanned automobiles become one of important branches of the unmanned automobiles, and a wire control technology is one of core technologies of the intelligent chassis, wherein wire control steering is one of key components of the wire control technology. The use of electronic equipment such as a sensor, an electric control unit and a motor in the steer-by-wire system of the intelligent chassis can lead to the reduction of the reliability of the system while bringing excellent control performance, and when certain electronic equipment fails, potential safety hazards can be brought, and safety accidents can be caused seriously.
The redundant design is carried out on the steer-by-wire system, so that the safety and the reliability of the steer-by-wire system can be improved. By carrying out hardware backup on the electric control unit, the sensor, the execution motor and the like, the steering-by-wire system can still realize the steering function when part of electronic equipment fails, and the potential safety hazard is reduced.
Disclosure of Invention
The invention aims to provide a redundant wire control steering device for an intelligent chassis and a control method thereof, which improve the safety and reliability of the wire control chassis, and maintain partial or complete steering capability when partial electronic equipment of a wire control steering system fails, reduce potential safety hazards and avoid safety accidents.
The redundant wire control steering device for the intelligent chassis provided by the invention comprises the following components: the steering execution module and the control module;
a steering execution module, comprising: the steering system comprises a rack-and-pinion mechanism, a second steering column, a first steering motor, a second steering motor, a first gear reduction mechanism, a second gear reduction mechanism, an electromagnetic clutch, a first steering tie rod, a second steering tie rod, a first steering wheel, a second steering wheel, a steering column angle and moment sensor, a first steering wheel kingpin angle sensor and a second steering wheel kingpin angle sensor;
a control module, comprising: the first electronic control unit and the second electronic control unit;
the gear rack mechanism is provided with a steering column; the steering column is sequentially provided with a steering column angle and moment sensor, a first gear reduction mechanism, an electromagnetic clutch and a second gear reduction mechanism; the first steering motor is connected with the steering column through a first gear reduction mechanism; the second steering motor is connected with the electromagnetic clutch through a second gear reduction mechanism and then connected with the steering column; the two ends of the rack-and-pinion mechanism are connected with a first transverse pull rod and a second transverse pull rod, the first transverse pull rod is connected with a first steering wheel, the second transverse pull rod is connected with a second steering wheel, a first steering wheel kingpin angle sensor is arranged on a first steering wheel kingpin, and a second steering wheel kingpin angle sensor is arranged on a second steering wheel kingpin.
Further, the first electric control unit is connected with the first steering motor, the steering column angle and moment sensor, the first steering wheel kingpin angle sensor, the second steering wheel kingpin angle sensor and the whole vehicle communication bus through separate electric circuits; the second electric control unit is connected with a second steering motor, an electromagnetic clutch, a steering column angle and moment sensor, a first steering wheel kingpin angle sensor, a second steering wheel kingpin angle sensor and a whole vehicle communication bus through separate electric circuits; the first electronic control unit is connected with the second electronic control unit through an internal communication bus.
The output power and the output torque of the first steering motor and the second steering motor may be different.
The first electronic control unit and the second electronic control unit can independently collect data of steering column angle and moment sensors, a first steering wheel kingpin angle sensor and a second steering wheel kingpin angle sensor, independently calculate steering wheel angles and detect whether a steering mechanism responds normally or not;
the first electric control unit and the second electric control unit are internally integrated with current sensors for respectively monitoring working currents of the first steering motor and the second steering motor;
the first electric control unit and the second electric control unit are internally integrated with a motor controller to control the motor;
the invention provides a control method of a redundant wire control steering device for an intelligent chassis, which comprises the following steps:
the system enters a pure steer-by-wire mode after detecting that the vehicle is normally started, and specifically comprises the following steps:
step one, a first electronic control unit and a second electronic control unit acquire control commands from a whole vehicle communication bus;
step two, the electromagnetic clutch is controlled to be disconnected or kept in a disconnected state by the second electronic control unit;
step three, the first electronic control unit controls the first steering motor to execute a steering command;
step four, the first electronic control unit calculates the steering wheel angle, collects the working current of the first steering motor, and the second electronic control unit calculates the steering wheel angle, and exchanges data through an internal communication bus;
step five, judging whether the steering wheel angle normally responds within the appointed time, if yes, returning to the step six; if not, entering a step eight;
step six, judging whether the current and the moment of the first steering motor are matched, if yes, returning to the step one; if not, entering a step seven;
step seven, issuing a first steering motor abnormality alarm signal to an upper electric control unit through a whole vehicle communication bus, and entering step nine;
step eight, issuing an abnormality alarm signal of the first electric control unit or the first steering motor to an upper electric control unit through a whole vehicle communication bus, and entering a step nine;
step nine, a second electronic control unit controls the electromagnetic clutch to be combined or kept in a combined state, and controls a second steering motor to execute a steering command;
step ten, the second electronic control unit collects sensor data;
step eleven, judging whether the steering wheel angle normally responds in the appointed time, if yes, entering step twelve; if not, go to step fourteen;
step twelve, judging whether the current and the moment of the first steering motor are matched, if yes, entering a step thirteenth; if not, go to step fifteen;
thirteenth, issuing a vehicle limp-home alarm signal to an upper electric control unit through a whole vehicle communication bus, and acquiring a control command from the whole vehicle communication bus by a second electric control unit, and returning to the ninth step after executing the step;
fourteen, issuing an emergency stop alarm signal to an upper electric control unit through a whole vehicle communication bus;
fifteen, issuing a second steering motor abnormality alarm signal and an emergency stop alarm signal to an upper-layer electric control unit through a whole vehicle communication bus;
in the execution process of the control command, the first electric control unit and the second electric control unit respectively issue working current data of the first steering motor and the second steering motor, steering wheel angle data, sensor original data and current fault code data to the upper electric control unit through the whole vehicle communication bus at fixed time intervals
The invention has the following beneficial effects:
1. the first steering motor and the second steering motor drive the same steering column, and the gear rack mechanism only needs one input shaft, so that compared with the scheme of arranging two input shafts on the gear rack mechanism, the steering column has the advantages of simple structure, small required arrangement space and low development and manufacturing cost.
2. The redundant type wire control steering device for the intelligent chassis and the control method thereof provided by the invention have the advantages that the redundant design is carried out on the sensor, the electric control unit and the executing motor, and certain or complete steering capability can be still maintained under the conditions of single motor faults, single or two angle sensor faults, partial sensor electric circuit faults, single electric control unit faults and the like, and corresponding alarm information is sent out to the whole vehicle controller, so that the safety and reliability of the system are improved.
3. The first electric control unit and the second electric control unit can independently collect data and calculate the control command from the upper electric control unit, so that the steering system is controlled.
4. When the steering system works normally, the first electric control unit controls the first steering motor to work, the second electric control unit only detects whether the steering system responds normally, and the second steering motor does not work, so that the loss of the second steering motor is reduced, the failure possibility of the second steering motor is reduced, and the safety and reliability of the system are improved.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a redundant wire steering device for an intelligent chassis.
Fig. 2 is a flow chart of a control method of the device according to the present invention.
The drawing is marked as follows:
1. rack and pinion mechanism 2, steering column 3, first steering motor
4. A second steering motor 5, a first gear reduction mechanism 6, and a second gear reduction mechanism
7. Electromagnetic clutch 8, first steering tie rod 9, second steering tie rod
10. Steering column angle and torque sensor for first steering wheel 11, second steering wheel 12
13. First steering wheel kingpin angle sensor 14 and second steering wheel kingpin angle sensor
15. First electronic control unit 16, second electronic control unit 17 and whole vehicle communication bus
Detailed Description
Please refer to fig. 1-2;
the redundant wire control steering device for the intelligent chassis provided by the invention comprises the following components: the steering execution module and the control module;
a steering execution module, comprising: a rack and pinion mechanism 1, a steering column 2, a first steering motor 3, a second steering motor 4, a first gear reduction mechanism 5, a second gear reduction mechanism 6, an electromagnetic clutch 7, a first steering tie rod 8, a second tie rod 9, a first steering wheel 10, a second steering wheel 11, a steering column angle and torque sensor 12, a first steering wheel kingpin angle sensor 13, a second steering wheel kingpin angle sensor 14;
a control module, comprising: a first electronic control unit 16, a second electronic control unit 15;
a steering column is arranged on the gear rack mechanism 1; a steering column angle and moment sensor 12, a first gear reduction mechanism 5, an electromagnetic clutch 7 and a second gear reduction mechanism 6 are sequentially arranged on the steering column 2; the first steering motor 3 is connected with the steering column 2 through a first gear reduction mechanism 5; the second steering motor 4 is connected with the electromagnetic clutch 7 through a second gear reduction mechanism 6 and then connected with the steering column 2; the two ends of the rack and pinion mechanism 1 are connected with a first tie rod 8 and a second tie rod 9, the first tie rod 8 is connected with a first steering wheel 10, the second tie rod 9 is connected with a second steering wheel 11, a first steering wheel kingpin angle sensor 13 is arranged on a first steering wheel kingpin, and a second steering wheel kingpin angle sensor 14 is arranged on a second steering wheel kingpin.
Further, the first electronic control unit 16 is connected with the first steering motor 3, the steering column angle and moment sensor 12, the first steering wheel kingpin angle sensor 13, the second steering wheel kingpin angle sensor 14 and the whole vehicle communication bus 17 through separate electric circuits; the second electronic control unit 15 is connected with the second steering motor 4, the electromagnetic clutch 7, the steering column angle and moment sensor 12, the first steering wheel kingpin angle sensor 13, the second steering wheel kingpin angle sensor 14 and the whole vehicle communication bus 17 through separate electric circuits; the first electronic control unit 16 is connected with the second electronic control unit 15 through an internal communication bus.
The output power and the output torque of the first steering motor 3 and the second steering motor 4 may be different.
The first electronic control unit 16 and the second electronic control unit 15 can independently collect data of the steering column angle and moment sensor 12, the first steering wheel kingpin angle sensor 13 and the second steering wheel kingpin angle sensor 14, independently calculate steering wheel angles and detect whether the steering mechanism responds normally or not;
the first electronic control unit 16 and the second electronic control unit 15 are integrated with current sensors inside to monitor working currents of the first steering motor 3 and the second steering motor 4 respectively;
the first electronic control unit 16 and the second electronic control unit 15 are internally integrated with a motor controller.
The control method of the redundant wire control steering device for the intelligent chassis comprises the following steps:
the system enters a pure steer-by-wire mode after detecting that the vehicle is normally started, and specifically comprises the following steps:
step one, a first electronic control unit 16 and a second electronic control unit 15 acquire control commands from a whole vehicle communication bus 17;
step two, the second electronic control unit 15 controls the electromagnetic clutch 7 to be disconnected or keep the disconnected state;
step three, the first electronic control unit 16 controls the first steering motor 3 to execute a steering command;
step four, the first electronic control unit 16 calculates the steering wheel angle, collects the working current of the first steering motor 3, and the second electronic control unit 15 calculates the steering wheel angle, and exchanges data through an internal communication bus;
step five, judging whether the steering wheel angle normally responds within the appointed time, if yes, returning to the step six; if not, entering a step eight;
step six, judging whether the current and the moment of the first steering motor 3 are matched, if yes, returning to the step one; if not, entering a step seven;
step seven, issuing an abnormal alarm signal of the first steering motor 3 to an upper-layer electric control unit through the whole vehicle communication bus 17, and entering step nine;
step eight, issuing an abnormality alarm signal of the first electric control unit 16 or the first steering motor 3 to an upper electric control unit through the whole vehicle communication bus 17, and entering a step nine;
step nine, the second electronic control unit 15 controls the electromagnetic clutch 7 to be combined or keep a combined state, and controls the second steering motor 4 to execute a steering command;
step ten, the second electronic control unit 15 collects sensor data;
step eleven, judging whether the steering wheel angle normally responds in the appointed time, if yes, entering step twelve; if not, go to step fourteen;
step twelve, judging whether the current and the moment of the first steering motor 3 are matched, if yes, entering a step thirteenth; if not, go to step fifteen;
thirteenth, issuing a vehicle limp-home alarm signal to an upper-layer electric control unit through the whole vehicle communication bus 17, and returning to a ninth step after the second electric control unit 15 acquires a control command from the whole vehicle communication bus 17;
fourteen, issuing an emergency stop alarm signal to an upper-layer electric control unit through the whole vehicle communication bus 17;
fifteen, issuing a second steering motor abnormality alarm signal and an emergency stop alarm signal to an upper-layer electric control unit through the whole vehicle communication bus 17;
in the execution process of the control command, the first electronic control unit 16 and the second electronic control unit 15 issue working current data of the first steering motor and the second steering motor, steering wheel angle data, sensor original data and current fault code data to the upper electronic control unit through the whole vehicle communication bus 17 at fixed time intervals.
It will be evident to those skilled in the art that the present invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and accordingly, the illustrative embodiments are to be considered as exemplary and not restrictive.
Claims (6)
1. Redundant wire control steering device for intelligent chassis, its characterized in that: the steering control system comprises a steering execution module and a control module;
the steering execution module includes: the steering system comprises a rack-and-pinion mechanism, a steering column, a first steering motor, a second steering motor, a first gear reduction mechanism, a second gear reduction mechanism, an electromagnetic clutch, a first steering tie rod, a second steering tie rod, a first steering wheel, a second steering wheel, a steering column angle and moment sensor, a first steering wheel kingpin angle sensor and a second steering wheel kingpin angle sensor;
the control module comprises: the first electronic control unit and the second electronic control unit.
2. The redundant wire-controlled steering apparatus for an intelligent chassis according to claim 1, wherein: a steering column is arranged on the gear rack mechanism; the steering column is sequentially provided with a steering column angle and moment sensor, a first gear reduction mechanism, an electromagnetic clutch and a second gear reduction mechanism; the first steering motor is connected with the steering column through a first gear reduction mechanism; the second steering motor is connected with the electromagnetic clutch through a second gear reduction mechanism and then connected with the steering column; the two ends of the rack-and-pinion mechanism are connected with a first transverse pull rod and a second transverse pull rod, the first transverse pull rod is connected with a first steering wheel, the second transverse pull rod is connected with a second steering wheel, a first steering wheel kingpin angle sensor is arranged on a first steering wheel kingpin, and a second steering wheel kingpin angle sensor is arranged on a second steering wheel kingpin.
3. The redundant wire-controlled steering apparatus for an intelligent chassis according to claim 1, wherein: the first electronic control unit is connected with the first steering motor, the steering column angle and moment sensor, the first steering wheel kingpin angle sensor, the second steering wheel kingpin angle sensor and the whole vehicle communication bus through separate electric circuits; the second electric control unit is connected with a second steering motor, an electromagnetic clutch, a steering column angle and moment sensor, a first steering wheel kingpin angle sensor, a second steering wheel kingpin angle sensor and a whole vehicle communication bus through separate electric circuits; the first electronic control unit is connected with the second electronic control unit through an internal communication bus.
4. The redundant wire-controlled steering apparatus for an intelligent chassis according to claim 1, wherein: the output power and the output torque of the first steering motor and the second steering motor may be different.
5. The redundant wire-controlled steering apparatus for an intelligent chassis according to claim 1, wherein: the first electronic control unit and the second electronic control unit can respectively acquire data of a steering column angle and moment sensor, a first steering wheel kingpin angle sensor and a second steering wheel kingpin angle sensor and respectively calculate steering wheel angles; the first electronic control unit and the second electronic control unit are internally integrated with current sensors for respectively monitoring working currents of the first steering motor and the second steering motor; the first electric control unit and the second electric control unit are internally integrated with a motor controller.
6. A control method of a redundant wire control steering device for an intelligent chassis is characterized by comprising the following steps of: the method comprises the following steps:
the drive-by-wire steering device enters a pure drive-by-wire steering mode after detecting that the vehicle is normally started, and is specifically as follows:
step one, a first electronic control unit and a second electronic control unit acquire control commands from a whole vehicle communication bus;
step two, the electromagnetic clutch is controlled to be disconnected or kept in a disconnected state by the second electronic control unit;
step three, the first electronic control unit controls the first steering motor to execute a steering command;
step four, the first electronic control unit calculates the steering wheel angle, collects the working current of the first steering motor, and the second electronic control unit calculates the steering wheel angle, and exchanges data through an internal communication bus;
step five, judging whether the steering wheel angle normally responds within the appointed time, if yes, returning to the step six; if not, entering a step eight;
step six, judging whether the current and the moment of the first steering motor are matched, if yes, returning to the step one; if not, entering a step seven;
step seven, issuing a first steering motor abnormality alarm signal to an upper electric control unit through a whole vehicle communication bus, and entering step nine;
step eight, issuing an abnormality alarm signal of the first electric control unit or the first steering motor to an upper electric control unit through a whole vehicle communication bus, and entering a step nine;
step nine, a second electronic control unit controls the electromagnetic clutch to be combined or kept in a combined state, and controls a second steering motor to execute a steering command;
step ten, the second electronic control unit collects sensor data;
step eleven, judging whether the steering wheel angle normally responds in the appointed time, if yes, entering step twelve; if not, go to step fourteen;
step twelve, judging whether the current and the moment of the first steering motor are matched, if yes, entering a step thirteenth; if not, go to step fifteen;
thirteenth, issuing a vehicle limp-home alarm signal to an upper electric control unit through a whole vehicle communication bus, and acquiring a control command from the whole vehicle communication bus by a second electric control unit, and returning to the ninth step after executing the step;
fourteen, issuing an emergency stop alarm signal to an upper electric control unit through a whole vehicle communication bus;
fifteen, issuing a second steering motor abnormality alarm signal and an emergency stop alarm signal to an upper-layer electric control unit through a whole vehicle communication bus;
in the execution process of the control command, the first electronic control unit and the second electronic control unit issue working current data of the first steering motor and the second steering motor, steering wheel angle data, sensor original data and current fault code data to the upper electronic control unit through the whole vehicle communication bus respectively at fixed time intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210894295.6A CN117465541A (en) | 2022-07-27 | 2022-07-27 | Redundant wire steering device for intelligent chassis and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210894295.6A CN117465541A (en) | 2022-07-27 | 2022-07-27 | Redundant wire steering device for intelligent chassis and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117465541A true CN117465541A (en) | 2024-01-30 |
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ID=89631726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210894295.6A Pending CN117465541A (en) | 2022-07-27 | 2022-07-27 | Redundant wire steering device for intelligent chassis and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117465541A (en) |
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2022
- 2022-07-27 CN CN202210894295.6A patent/CN117465541A/en active Pending
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