CN208907856U - A kind of automatic Pilot simulator and its steering mechanism - Google Patents
A kind of automatic Pilot simulator and its steering mechanism Download PDFInfo
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- CN208907856U CN208907856U CN201821118500.5U CN201821118500U CN208907856U CN 208907856 U CN208907856 U CN 208907856U CN 201821118500 U CN201821118500 U CN 201821118500U CN 208907856 U CN208907856 U CN 208907856U
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- steering wheel
- driving part
- automatic pilot
- steering mechanism
- steering
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Abstract
It includes: bracket that the utility model, which discloses a kind of automatic Pilot simulator and its steering mechanism, the steering mechanism,；Driving part is fixed on the bracket；Steering wheel is sequentially connected with the driving part, and under automatic mode, the driving part is able to drive the steering wheel and is rotated；Angular transducer, for monitoring the corner of the steering wheel；Damper at least works under artificial mode, can increase damping for the rotation of the steering wheel, and the size of the damping is directly proportional to the corner；Wherein, the artificial mode refers to that tester intervenes the rotation of the steering wheel manually, and the driving part does not work.The steering mechanism of the provided automatic Pilot simulator of the utility model can cooperate the components such as analogue system, what comes into a driver's computer, and security performance and driving training to autonomous driving vehicle etc. carry out analogue simulation, be more advantageous to the popularization of autonomous driving vehicle, use.
Description
Technical field
The utility model relates to driving simulator technical field more particularly to a kind of automatic Pilot simulator and its turning machines
Structure.
Background technique
Because of the safety problem of autonomous driving vehicle, currently, the test of autonomous driving vehicle gradually turns via real road
Enter the analogue simulation stage, other than needing sound analogue system, what comes into a driver's computer, the steering mechanism of simulator is also one ten
Divide important component.
Therefore, a kind of steering mechanism of automatic Pilot simulator how is provided, to realize the emulation mould of autonomous driving vehicle
It is quasi-, it is still those skilled in the art's technical problem urgently to be resolved.
Utility model content
The purpose of the utility model is to provide a kind of automatic Pilot simulator and its steering mechanism, wherein the steering mechanism
The components such as analogue system, what comes into a driver's computer can be cooperated, security performance and driving training to autonomous driving vehicle etc. are imitated
True simulation is more advantageous to the popularization of autonomous driving vehicle, uses.
In order to solve the above technical problems, the utility model provides a kind of steering mechanism of automatic Pilot simulator, comprising: branch
Frame；Driving part is fixed on the bracket；Steering wheel is sequentially connected with the driving part, under automatic mode, the driving
Component is able to drive the steering wheel and is rotated；Angular transducer, for monitoring the corner of the steering wheel；Damper, until
It works under artificial mode less, damping, and the size of the damping and the corner can be increased for the rotation of the steering wheel
It is directly proportional；Wherein, the artificial mode refers to that tester intervenes the rotation of the steering wheel manually, the driving part not work
Make.
The steering mechanism of the provided automatic Pilot simulator of the utility model has two kinds of works of automatic mode and artificial mode
Operation mode, in automatic mode, driving part can drive steering wheel to be rotated, to carry out automatic Pilot, and in emergency
Or when mistake occurs in automatic mode, tester can intervene the rotation of steering wheel manually, to switch to artificial mould
Formula is driven.
In a manual mode, damper can increase damping, the size of the damping and turning for steering wheel for the rotation of steering wheel
Angle is directly proportional, reversed blocking torque is brought can be manually rotated steering wheel for tester, so that tester is in rotation direction
Better feel can be obtained when disk, i.e., the practical operation that steering wheel rotational angle is bigger, rotation is more heavy feels that tester can
To obtain better test experience.Meanwhile damper also has certain effectiveness in vibration suppression, can reduce institute in steering wheel rotation process
The vibration of generation, noise.
Above-mentioned steering mechanism can cooperate the components such as analogue system, what comes into a driver's computer, to the safety of autonomous driving vehicle
Performance and driving training etc. carry out analogue simulation, are more advantageous to the popularization of autonomous driving vehicle, use.
Optionally, the driving part is torque motor, and shaft is connected directly with the steering wheel.
Optionally, the driving part is torque motor, and the steering wheel is connected with steering column, the torque motor
Shaft be connected with the steering column.
Optionally, the damper is installed on the shaft of the torque motor, and at work, the damper can be
The shaft increases damping.
Optionally, the damper is electromagnetic damper.
It optionally, further include retarder, the input shaft of the retarder is connected with the shaft of the torque motor, described
Angular transducer is installed on the retarder.
It optionally, further include limiting component, the limiting component is installed on the shaft, turns for limiting the steering wheel
Dynamic angle.
It optionally, further include controller, the controller is connect with the driving part, the equal signal of the damper,
Under artificial mode, the controller can control the driving part stop working, the damper work.
Optionally, the bracket includes two supporting legs being oppositely arranged, and the outer wall of the driving part is provided with two branch
Axis is supportted, two support shafts are installed on two supporting legs correspondingly, with the fixation driving part.
The utility model also provides a kind of automatic Pilot simulator, including steering mechanism, and the steering mechanism is above-mentioned
The steering mechanism of automatic Pilot simulator.
Since the steering mechanism of above-mentioned automatic Pilot simulator has been provided with technical effect as above, then, having should
The automatic Pilot simulator of steering mechanism is also when having similar technical effect, therefore this will not be repeated here.
Detailed description of the invention
Fig. 1 is provided a kind of structure of specific embodiment of the steering mechanism of automatic Pilot simulator by the utility model
Schematic diagram.
The reference numerals are as follows in Fig. 1:
1 bracket, 11 supporting legs；
2 driving parts, 21 support shafts；
3 steering wheels, 31 steering columns；
4 angular transducers；
5 dampers；
6 retarders；
7 limiting components.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution of the utility model, with reference to the accompanying drawing and have
The utility model is described in further detail for body embodiment.
The words such as " first " described herein, " second ", be merely for convenience of description scheme same or like two with
On structure or component, be not offered as certain particular determination to sequence.
Referring to FIG. 1, Fig. 1 is provided a kind of specific implementation of the steering mechanism of automatic Pilot simulator by the utility model
The structural schematic diagram of mode.
As shown in Figure 1, the utility model provides a kind of steering mechanism of automatic Pilot simulator, including bracket 1, driving portion
Part 2, steering wheel 3, angular transducer 4 and damper 5.
Driving part 2 is securable to bracket 1, and is sequentially connected with steering wheel 3, and in automatic mode, driving part 2 can
Steering wheel 3 is driven to be rotated, to carry out automatic Pilot.Angular transducer 4 can be used for the corner of monitoring direction disk 3.Damper 5
Can at least work, be damped with increasing for the rotation of steering wheel 3 in a manual mode, and the size of the damping and corner at
Direct ratio.Wherein, artificial mode refers to that tester intervenes the rotation of steering wheel 3 manually, and under the mode, driving part 2 does not work.
As described above, the steering mechanism of the provided automatic Pilot simulator of the utility model has automatic mode and artificial mould
Two kinds of operating modes of formula, in automatic mode, driving part 2 can drive steering wheel 3 to be rotated, to carry out automatic Pilot, and
When mistake occur in emergency or automatic mode, tester can intervene the rotation of steering wheel 3 manually, to cut
Artificial mode is shifted to be driven.
In a manual mode, damper 5 can increase damping, size and the steering wheel 3 of the damping for the rotation of steering wheel 3
Corner is directly proportional, reversed blocking torque is brought can be manually rotated steering wheel 3 for tester, so that tester is in rotation side
Better feel can be obtained when to disk 3, i.e., the practical operation that 3 rotational angle of steering wheel is bigger, rotation is more heavy is felt, tester
Member can obtain better test experience.Meanwhile damper 5 also has certain effectiveness in vibration suppression, can reduce steering wheel 3 and rotate
Generated vibration, noise in journey.
Above-mentioned steering mechanism can cooperate the components such as analogue system, what comes into a driver's computer, to the safety of autonomous driving vehicle
Performance and driving training etc. carry out analogue simulation, are more advantageous to the popularization of autonomous driving vehicle, use.
In specific scheme, above-mentioned driving part 2 can be torque motor, and torque motor has the slow-speed of revolution, big
The advantages that torque, fast response, and the output of torques such as may be implemented, shaft (not shown) can be connected with steering wheel 3,
Directly to drive steering wheel 3 to be rotated.Alternatively, steering wheel 3 can connect steering column 31, which can be with direction
The shaft of disk 3 is connected, and then transmits power from shaft to steering column 31, and steering wheel 3 is driven to be rotated.
Using this structure, the drive mechanism between driving part 2 and steering wheel 3 can be significantly simplified, and then can simplify whole
The structure of a steering mechanism advantageously reduces the weight and manufacturing cost of steering mechanism；Moreover, because drive mechanism is more simple
Single, the transmission efficiency between driving part 2 and steering wheel 3 can be higher, additionally it is possible to reduce the energy in steering mechanism's operational process
Consumption.
It may be noted that the above-mentioned description as described in 2 specific structure of driving part and its drive mechanism between steering wheel 3, only
It is a kind of exemplary description of the utility model embodiment, can not be simulated as automatic Pilot provided to the utility model
The restriction of the practical range of the steering mechanism of device；In the specific implementation, those skilled in the art can also be using other forms
Driving part 2, for example, parallel axes, row can also be arranged in the driving part 2 between common motor, with steering wheel 3
The deceleration mechanism of the forms such as star row, to reduce revolving speed, this scheme is similarly the utility model scheme claimed.
By taking driving part 2 is torque motor as an example, damper 5 can be installed on the shaft of torque motor, work
When, damper 5 can increase damping for shaft.In addition to this scheme, the steering column in steering wheel 3 is also can be set in damper 5
On 31, the technical effect for increasing damping for the rotation of steering wheel 3 can be equally played.
Above-mentioned damper 5 is specifically as follows electromagnetic damper, can be set in shaft, when being powered, the electromagnetic damping
Device can produce damping, and the damping value is adjustable, easily to generate different size of resistance according to the corner of steering wheel 3
Buddhist nun, when power is off, the electromagnetic damper do not work, i.e., no longer have and provide the effect of damping for steering wheel 3.
As previously mentioned, in automatic mode, steering wheel 3 is driven by driving part 2, at this point, tester is not necessarily to other side
It is operated to disk 3, then, the technical effect for enhancing feel as brought by damper 5 does not need actually, in this way,
Under automatic mode, so that it may energization of the cutting to damper 5, to reduce the resistance of the rotation of steering wheel 3.Certainly, it is contemplated that damping
The technical effect for the reduction vibration that device 5 is also equipped with, in automatic mode, damper 5 can continue to work, to reduce driving portion
The drive steering wheel 3 of part 2 generated noise when rotating.
Still using Fig. 1 as visual angle, which can also include retarder 6, and the input shaft of retarder 6 can be with torque electricity
The shaft of motivation is connected, and angular transducer 4 is installed on the retarder 6, with the decelerating effect by the retarder 6 come the side of detection
The relative rotation of the vehicle characterized to disk 3.Certainly, which can be used for absolutely turning for detection direction disk 3
Angle, at this point it is possible to not need above-mentioned retarder 6.
It is to be appreciated that above-mentioned " relative rotation " refers to the angle of the vehicle wheel rotation of vehicle when steering wheel 3 rotates, the angle
For value usually between positive and negative 30-40 degree (to turn left to be positive, right-hand rotation is negative), above-mentioned " absolute corner " refers to the reality of steering wheel 3
Border corner, the angle value is related with specific vehicle, usually positive and negative between 540 degree.
For more preferable simulation true environment, avoids 3 amount of spin of steering wheel excessive, limiting component 7, limiting section can also be set
Part 7 can be installed on shaft, for limiting the angle of the rotation of steering wheel 3.
Specifically, which may include the first gear and second gear being meshed, and the diameter of first gear can
To be less than second gear, for the transmission ratio of first gear and second gear less than 1, first gear can be set in shaft, and can
Rotated synchronously with shaft, the end face of second gear can circumferentially spaced setting there are two the first limited blocks, when second gear edge
One direction turns to when abutting against the first limited block and the second limited block of fixed setting, and steering wheel 3 can be prevented to continue
It is rotated in the direction, and then the extreme position that steering wheel 3 is rotated in the direction can be limited.Alternatively, the limiting component 7 can also
Think the composite structure of wheel and rack, gear can be set in shaft, and rotate synchronously with shaft, and gear can drive when rotating
Rack gear carries out linear displacement, and then the block piece of the forms such as block can be arranged on the motion profile of rack gear, when the end of rack gear
When abutting against with block, rack gear can not continue to act, also can be to steering wheel 3 so as to reversely limit the rotation of steering wheel 3
Rotation limit position be determined.
With continued reference to FIG. 1, bracket 1 may include two supporting legs 11 being oppositely arranged, the outer wall of driving part 2 can be set
Two support shafts 21 are equipped with, two support shafts 21 can be located substantially on same axis, and be installed on two supporting legs 11 correspondingly,
To fix the driving part 2, and then entire steering mechanism is fixed.Specifically, the upper surface of supporting leg 11 can be equipped with V
Shape slot, support shaft 21 can be caught in the v-shaped opening of V-shaped groove, then support shaft 21 can be fixed on supporting leg 11 by gland；
Above-mentioned support shaft 21 can be circular shaft, or the forms such as pin can also be arranged when for circular shaft in the axis of other shapes
Locating part, rotated to avoid support shaft 21 (being inconjunction with driving part 2) confronting legs 11.
For the steering mechanism of automatic Pilot simulator involved in the respective embodiments described above, following the utility model is implemented
Example will also be described the control process of the automatic Pilot simulator.
Above-mentioned steering mechanism can also include controller, which can be connected with driving part 2, damper 5 with signal
It connects, in automatic mode, controller can control the operating of driving part 2, to drive steering wheel 3 to be rotated, at this point, damper
Whether 5, which work, to be configured as needed；When monitor tester hand operate steering wheel 3 when (specifically can reflect for
The signal that the control electric current of driving part 2 increases, it is of course also possible to be monitored by others sensors), controller can be with
Control driving part 2 shuts down, with completely by manually being operated to steering wheel 3, at this point, into artificial mode, controller
Also control damper 5 is worked, is damped with increasing for the rotation of steering wheel 3.
The utility model also provides a kind of automatic Pilot simulator, including what comes into a driver's computer, steering mechanism etc., the turning machine
Structure is the steering mechanism of automatic Pilot simulator involved in the respective embodiments described above.
Since the steering mechanism of above-mentioned automatic Pilot simulator has been provided with technical effect as above, then, having should
The automatic Pilot simulator of steering mechanism is also when having similar technical effect, therefore this will not be repeated here.
Above are merely preferred embodiments of the utility model, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of this utility model, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of steering mechanism of automatic Pilot simulator characterized by comprising
Bracket (1)；
Driving part (2) is fixed on the bracket (1)；
Steering wheel (3) is sequentially connected with the driving part (2), and under automatic mode, the driving part (2) is able to drive institute
Steering wheel (3) is stated to be rotated；
Angular transducer (4), for monitoring the corner of the steering wheel (3)；
Damper (5), at least works under artificial mode, can increase damping, and the resistance for the rotation of the steering wheel (3)
The size of Buddhist nun is directly proportional to the corner；
Wherein, the artificial mode refers to that tester intervenes the rotation of the steering wheel (3), the driving part (2) manually
It does not work.
2. the steering mechanism of automatic Pilot simulator according to claim 1, which is characterized in that the driving part (2) is
Torque motor, shaft are connected directly with the steering wheel (3).
3. the steering mechanism of automatic Pilot simulator according to claim 1, which is characterized in that the driving part (2) is
Torque motor, the steering wheel (3) are connected with steering column (31), the shaft of the torque motor and the steering column (31)
It is connected.
4. the steering mechanism of automatic Pilot simulator according to Claims 2 or 3, which is characterized in that damper (5) peace
Shaft loaded on the torque motor, at work, the damper (5) can increase damping for the shaft.
5. the steering mechanism of automatic Pilot simulator according to claim 4, which is characterized in that the damper (5) is electricity
Magnetic damper.
6. the steering mechanism of automatic Pilot simulator according to Claims 2 or 3, which is characterized in that further include retarder
(6), the input shaft of the retarder (6) is connected with the shaft of the torque motor, and the angular transducer (4) is installed on institute
State retarder (6).
7. the steering mechanism of automatic Pilot simulator according to Claims 2 or 3, which is characterized in that further include limiting component
(7), the limiting component (7) is installed on the shaft, for limiting the angle of the steering wheel (3) rotation.
8. the steering mechanism of automatic Pilot simulator according to claim 1, which is characterized in that it further include controller, it is described
Controller is connect with the driving part (2), the damper (5) signal, and in a manual mode, the controller can be controlled
Make the driving part (2) stop working, the damper (5) work.
9. the steering mechanism of automatic Pilot simulator according to claim 1, which is characterized in that the bracket (1) includes phase
To two supporting legs (11) of setting, the outer wall of the driving part (2) is provided with two support shafts (21), two support shafts
(21) two supporting legs (11) are installed on, correspondingly with the fixation driving part (2).
10. a kind of automatic Pilot simulator, including steering mechanism, which is characterized in that the steering mechanism is in claim 1-9
The steering mechanism of described in any item automatic Pilot simulators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821118500.5U CN208907856U (en) | 2018-07-13 | 2018-07-13 | A kind of automatic Pilot simulator and its steering mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821118500.5U CN208907856U (en) | 2018-07-13 | 2018-07-13 | A kind of automatic Pilot simulator and its steering mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN208907856U true CN208907856U (en) | 2019-05-28 |
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ID=66612527
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821118500.5U Active CN208907856U (en) | 2018-07-13 | 2018-07-13 | A kind of automatic Pilot simulator and its steering mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186698A (en) * | 2019-06-02 | 2019-08-30 | 深圳市中智仿真科技有限公司 | A kind of automobile simulator steering mechanism |
| CN111618834A (en) * | 2020-05-13 | 2020-09-04 | 中汽数据(天津)有限公司 | Steering device special for automobile driving robot |
| CN112767760A (en) * | 2020-12-14 | 2021-05-07 | 北方信息控制研究院集团有限公司 | Compound portable equipment simulation training equipment |
| CN114377380A (en) * | 2022-01-13 | 2022-04-22 | 北京乐客灵境科技有限公司 | Simulated racing car driving control system and realization method thereof |
-
2018
- 2018-07-13 CN CN201821118500.5U patent/CN208907856U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186698A (en) * | 2019-06-02 | 2019-08-30 | 深圳市中智仿真科技有限公司 | A kind of automobile simulator steering mechanism |
| CN111618834A (en) * | 2020-05-13 | 2020-09-04 | 中汽数据(天津)有限公司 | Steering device special for automobile driving robot |
| CN112767760A (en) * | 2020-12-14 | 2021-05-07 | 北方信息控制研究院集团有限公司 | Compound portable equipment simulation training equipment |
| CN114377380A (en) * | 2022-01-13 | 2022-04-22 | 北京乐客灵境科技有限公司 | Simulated racing car driving control system and realization method thereof |
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