CN204383556U - A kind of device realizing the self-steering of intelligent vehicle - Google Patents

Abstract

The utility model discloses a device for realizing the autonomous steering of an intelligent vehicle. In the original vehicle electric power steering device, the electronic control unit ECU is replaced by a controller, wherein the connection mode between the controller and other mechanisms in the original vehicle electric power steering device It is consistent with the connection method between the electronic control unit ECU and other mechanisms in the original vehicle electric power steering device. The device controls the steering system. This utility model is based on the original electric power steering device and expands the function of autonomous steering control. Compared with other refitting technologies, it greatly saves the interior space of the vehicle. The free switching between the steering mode and the autonomous steering mode greatly improves the usability and convenience of the autonomous steering device, and facilitates disassembly and daily maintenance.

Description

A device for realizing autonomous steering of intelligent vehicles

technical field

The utility model relates to a device for realizing autonomous steering of an intelligent vehicle, which belongs to the technical field of vehicle control systems.

Background technique

With the increase of global car ownership and traffic accident rate, intelligent transportation system has gradually received attention from all walks of life. As an important part of it, intelligent vehicles are of great significance.

Contents of the invention

The purpose of this utility model is: aiming at the defects of the prior art, to provide a device for realizing the autonomous steering of intelligent vehicles, which can effectively utilize the original electric power steering mechanism, so that it can expand the autonomous steering control function, greatly The interior space of the vehicle is saved, the workload and cost of refitting are reduced, and the structure and appearance of the original vehicle are not affected, so as to overcome the deficiencies of the prior art.

Technical scheme of the utility model

A device for realizing autonomous steering of an intelligent vehicle, including a vehicle electric power steering device, the controller replaces the electronic control unit ECU in the vehicle electric power steering device and is first connected with other mechanisms in the vehicle electric power steering device, wherein the controller is connected to the original The connection mode of other mechanisms in the vehicle electric power steering device is consistent with that of the electronic control unit ECU and other mechanisms in the original vehicle electric power steering device. The vehicle speed sensor, torque sensor and camera are respectively connected to the controller, and the controller controls the steering. The motor controls the steering system through the original power steering mechanism.

In the aforementioned device for realizing the autonomous steering of the intelligent vehicle, the controller includes two control modes, one is the traditional power steering control mode, by collecting the vehicle speed sensor and the torque sensor, the steering motor is controlled to output power assist torque to realize the power steering The other is the autonomous steering control mode. By processing the road information collected by the camera, combined with the signals of the vehicle speed sensor and torque sensor, the steering motor is controlled to rotate at a specified angle to realize the autonomous steering of the steering system. The two modes are switched by a switch.

In the aforementioned device for realizing autonomous steering of an intelligent vehicle, the vehicle electric power steering device includes an electronic control unit ECU, a torque sensor, a steering motor, an electromagnetic clutch and a deceleration mechanism.

In the aforementioned device for realizing the autonomous steering of the intelligent vehicle, the camera provides the controller in the autonomous steering mode with the necessary position information required for the autonomous driving of the vehicle.

In the aforementioned device for realizing the autonomous steering of the intelligent vehicle, the mode switching switch is a device for switching the working mode of the controller.

Due to the adoption of the above technical solution, compared with the prior art, the utility model is based on the original electric power steering device, and expands the autonomous steering control function. Compared with other refitting technologies, it greatly saves the interior space of the vehicle. The structure and appearance of the car are not affected, which ensures the reliability of the transmission mechanism. At the same time, a mode switch is set to switch freely between the traditional power steering mode and the autonomous steering mode, which greatly improves the usability and Convenience reduces the workload and cost of smart vehicle modification, and facilitates disassembly and daily maintenance.

Description of the drawings,

Fig. 1 is the structural representation of the utility model.

Detailed ways,

The utility model is used as a further detailed description below in conjunction with the accompanying drawings, but not as any limitation to the utility model.

Embodiment of the present utility model: a method for realizing autonomous steering of an intelligent vehicle. In the original vehicle electric power steering device, the electronic control unit ECU is replaced by a controller, wherein the controller is connected with other mechanisms in the original vehicle electric power steering device The connection mode of the electronic control unit ECU is consistent with other mechanisms in the original vehicle electric power steering device. The controller receives the signals of the vehicle speed sensor, torque sensor and camera respectively, controls the steering motor, and then passes the original vehicle The power steering device controls the steering system.

The controller includes two control modes, one is the traditional power steering control mode, which controls the steering motor to output power assist torque by collecting the vehicle speed sensor and torque sensor, and realizes the power steering; the other is the autonomous steering control mode, through processing the camera The collected road information, combined with the signals of the vehicle speed sensor and torque sensor, controls the steering motor to rotate at a specified angle to realize the autonomous steering of the steering system. The two modes are switched by a switch. The original vehicle electric power steering device includes an electronic control unit ECU, Torque sensor, steering motor, electromagnetic clutch and reduction mechanism.

A device for realizing autonomous steering of intelligent vehicles constructed according to the above method, as shown in the accompanying drawings, includes a vehicle electric power steering device, and the controller replaces the electronic control unit ECU in the vehicle electric power steering device and is connected with the vehicle electric power steering device The other mechanisms in the original vehicle electric power steering device are connected first, and the connection method between the controller and other mechanisms in the original vehicle electric power steering device and the connection method between the electronic control unit ECU and other mechanisms in the original vehicle electric power steering device are consistent. The vehicle speed sensor and torque sensor and the camera are respectively connected with the controller, the controller controls the steering motor, and then controls the steering system through the original power steering mechanism.

The controller includes two control modes, one is the traditional power steering control mode, which controls the steering motor to output power assist torque by collecting the vehicle speed sensor and torque sensor, and realizes power steering; the other is the autonomous steering control mode, through processing The road information collected by the camera, combined with the signals of the vehicle speed sensor and torque sensor, controls the steering motor to rotate at a specified angle to realize the autonomous steering of the steering system. The two modes are switched by a switch. The original vehicle electric power steering device includes an electronic control unit ECU, torque sensor, steering motor, electromagnetic clutch and deceleration mechanism, the camera provides the controller in autonomous steering mode with the necessary position information required for autonomous driving of the vehicle, and the mode switch is a device for switching the working mode of the controller , and the traditional power steering control mode and the autonomous steering control mode described in the utility model all look to adopt the relatively mature technology implementation of the prior art.

When the electronic control unit (ECU) of the original vehicle electric power steering device is replaced by a controller, the controller includes two control modes of power steering and autonomous steering, and the two modes can be switched freely through a switch. In power steering mode , the controller receives the signals from the vehicle speed sensor and the steering column torque sensor, controls the motor to output the corresponding steering assist torque, and realizes the function of the original electronic control unit (ECU); in the autonomous steering control mode, the controller processes the road condition information collected by the camera ( Including the distance the vehicle deviates from the expected path, obstacle information, etc.) and signals such as the torque sensor and the vehicle speed sensor, the motor is controlled to output the expected steering angle to realize the function of the vehicle's autonomous steering.

The connection methods of the above-mentioned components are all carried out according to the conventional methods of the prior art.

Claims (3)

1. A device for realizing autonomous steering of an intelligent vehicle, comprising a vehicle electric power steering device, characterized in that: the controller replaces the electronic control unit ECU in the vehicle electric power steering device and is connected with other mechanisms in the vehicle electric power steering device, The vehicle speed sensor, torque sensor and camera are respectively connected to the controller, and the controller controls the steering motor, and then controls the steering system through the original power steering mechanism. 2. The device for realizing the autonomous steering of an intelligent vehicle according to claim 1, characterized in that: the controller includes two control modes, one is a traditional power steering control mode, by collecting a vehicle speed sensor, a torque sensor, Control the steering motor to output power-assist torque to realize power-assisted steering; the other is the autonomous steering control mode, by processing the road information collected by the camera, combined with the signals of the vehicle speed sensor and torque sensor, the steering motor is controlled to rotate at a specified angle to realize the autonomy of the steering system Steering, the two modes are switched by a toggle switch. 3. The device for realizing autonomous steering of intelligent vehicles according to claim 1, characterized in that: the vehicle electric power steering device comprises an electronic control unit ECU, a torque sensor, a steering motor, an electromagnetic clutch and a speed reduction mechanism.