CN216545753U

CN216545753U - Vehicle autonomous tracking system based on active steering system and hub motor system

Info

Publication number: CN216545753U
Application number: CN202122358022.3U
Authority: CN
Inventors: 谢正超; 马阔; 李文锋; 储绍强; 赵晶
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2022-05-17
Anticipated expiration: 2031-09-27

Abstract

The utility model discloses a vehicle autonomous tracking system based on an active steering system and a hub motor system. The signal acquisition system is used for acquiring vehicle running state signals; the vehicle control unit receives the measurement data of the signal acquisition system, generates a first control instruction signal and a second control instruction signal for controlling driving, steering and maintaining the stability of a vehicle body through processing, and respectively sends the first control instruction signal and the second control instruction signal to the motor controllers of the active steering system and the hub motor system; a motor controller of the active steering system receives a first control instruction signal, so that a steering execution motor outputs torque to control the heading of the vehicle to follow a reference track; and a motor controller of the hub motor system receives the second control instruction signal, so that the hub driving motor outputs torque to maintain normal running of the vehicle and make up for insufficient power assistance of the active steering system, and the control accuracy and the control stability of the autonomous tracking of the vehicle are further improved.

Description

Vehicle autonomous tracking system based on active steering system and hub motor system

Technical Field

The utility model relates to the technical field of vehicle intelligent control, in particular to a vehicle autonomous tracking system based on an active steering system and a hub motor system.

Background

Modern automobiles are increasingly equipped with various sensor devices and motors to improve the level of automation and intelligence of the vehicle. Among them, the active steering system has been widely used to improve the operational stability and the portability of the driver when steering; meanwhile, the hub motor is flexible and independent in control, can control and coordinate the movement of each tire of the vehicle respectively, and is gradually used for designing a vehicle with distributed driving. The vehicle in the driving mode structurally removes transmission devices such as a mechanical differential speed, a follow-up system and the like in an automobile chassis, greatly simplifies the structure of the automobile, reduces the weight of the automobile, is a great innovation of the traditional centralized driving automobile structure, and is regarded as an effective method for improving the driving performance of the vehicle and realizing the autonomous tracking function of the vehicle.

In the patent "an automatic parking path tracking device CN 206812993U)", the device includes a control module, an inertial navigation module, a gyroscope, a wheel speed sensor, a rotation angle sensor, and a power supply module. The control module obtains vehicle position information from the inertial navigation module, vehicle body course angle information from the gyroscope, vehicle speed information from the wheel speed sensor and wheel rotation angle information from the steering wheel rotation angle sensor; and the control is carried out through the steering wheel turning angle, so that the tracking control of the automatic parking path is realized. However, the disadvantage of this patent is that it lacks detailed description of the control of the execution unit level, and the problem of insufficient power assistance is easily caused by only relying on the steering system, and it is difficult to achieve both the control accuracy and the steering stability of the path tracking process.

Disclosure of Invention

The present invention is directed to solve at least one of the above problems in the related art to a certain extent, and by combining an active steering system and a wheel hub motor system, the present invention can effectively improve the handling performance of an automobile and improve the control accuracy of the movement of the automobile.

Therefore, the utility model provides a vehicle autonomous tracking system based on an active steering system and a hub motor system, which comprises a signal acquisition system, a vehicle control unit, the active steering system and the hub motor system. Wherein the content of the first and second substances,

the signal acquisition system is used for acquiring running state signals and environmental information of the vehicle;

the active steering system comprises a steering motor controller and a steering execution motor controlled by the steering motor controller;

the hub motor system comprises a hub motor controller and a hub driving motor controlled by the hub motor controller;

the signal acquisition system is connected with the input end of the vehicle control unit, and the steering motor controller and the wheel hub motor controller are both connected with the output end of the vehicle control unit.

Further, the running state signal of the vehicle comprises a front wheel steering angle signal, a steering moment, a wheel speed, a head course angle and a vehicle transverse displacement, and the environment information comprises road information and obstacle conditions.

Furthermore, the signal acquisition system comprises a camera module, a laser radar, a GPS module, an inertial navigation module and a vehicle-mounted sensor module. The camera module is used for identifying lane lines, the laser radar is used for identifying obstacles in a road, the GPS module is used for positioning the position of a vehicle and acquiring the transverse displacement information of the vehicle by combining with the camera module, the inertial navigation module is used for acquiring a heading angle of the vehicle head, the vehicle-mounted sensor module comprises a front wheel steering angle sensor for acquiring a front wheel steering angle signal, a torque sensor for acquiring steering torque and a wheel speed sensor for acquiring wheel speed, and the camera module, the laser radar, the GPS module, the inertial navigation module, the front wheel steering angle sensor, the torque sensor and the wheel speed sensor are all connected with the signal input end of the whole vehicle controller;

further, the environmental information of the vehicle is obtained through the laser radar and the camera module.

Furthermore, a gyroscope is included in the inertial navigation module, and the heading angle of the vehicle head is measured through the gyroscope.

Further, the laser radar employs RS-LiDAR-16. The GPS module adopts mobile communication TK-419. The inertial navigation module adopts astronomical measurement and control SKM-4 DX.

Further, the vehicle control unit is used for receiving and processing data sent by the signal acquisition system, and respectively sends a first control instruction signal for controlling steering and a second control instruction signal for driving and maintaining the stability of the vehicle body to the steering motor controller and the hub motor controller.

Further, the steering motor controller is used for controlling the steering execution motor to output a desired torque based on the received first control instruction signal so as to control the front wheel steering angle of the vehicle to follow the reference track; the hub motor controller is used for controlling the hub driving motor to output corresponding torque to control the forward speed of the vehicle and generate a yaw moment based on the received second control command signal.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model adopts the distributed electric drive vehicle based on the hub motor, thereby obviously improving the source of the actuator and the reliability design of the system. On one hand, the vehicle control unit can control the wheel speed of the hub motor, so that the path tracking precision is improved; on the other hand, each hub motor can generate different additional driving torques under the action of the whole vehicle controller, so that a yaw effect is generated on the whole vehicle layer, the problem of vehicle operation stability caused by insufficient power assistance of a single active steering system is optimized, and the whole motion process is more stable and safer.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings. Fig. 1 is a schematic structural diagram of a vehicle autonomous tracking system based on an active steering system and a hub motor system according to an embodiment of the present invention.

Detailed Description

The following describes in detail embodiments of the present invention, and the components used in the present invention are commercially available. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

As shown in fig. 1, the vehicle autonomous tracking system based on the active steering system and the in-wheel motor system provided by the utility model comprises a signal acquisition system, a vehicle control unit 170, the active steering system and the in-wheel motor system.

The signal acquisition system comprises a camera module 100 (of a combined photoelectric YH-6001W model is selected), a laser radar 110 (of a Itanium poly-invasive RS-LiDAR-16 model is selected), a GPS module 120 (of a mobile communication TK-419 model is selected), an inertial navigation module 130 (of an astronomical measurement and control SKM-4DX model is selected), and a vehicle-mounted sensor module.

The vehicle-mounted sensor module comprises a front wheel steering angle sensor 140, a torque sensor 150 (TAS sensor of HELLA, Germany) and a wheel speed sensor 160 (A19250 sensor of Allegro, Polish).

The camera module 100 is used to identify lane lines; the laser radar 110 is used for sensing the environment and identifying obstacles in the road; the GPS module 120 is used for positioning the vehicle position and acquiring the vehicle lateral displacement information by combining with the camera module 100; the inertial navigation module 130 is used for obtaining the heading angle information of the vehicle.

The vehicle control unit 170 (selected from the body control module ECU of the joint automobile electronics company) receives the measurement data of the signal acquisition system, generates a first control instruction signal for controlling steering and a second control instruction signal for driving and maintaining the stability of the vehicle body by processing, and respectively sends the first control instruction signal and the second control instruction signal to the active steering system and the hub motor system.

The active steering system comprises a steering motor controller 180 (model MC3902 of Inebel corporation) and a steering actuating motor 190; the in-wheel motor system includes an in-wheel motor controller 200 (selected from the fine electric technology company model HVP2-800/HVP 2-600) and an in-wheel drive motor 210.

The camera module 100, the laser radar 110, the GPS module 120, the inertial navigation module 130, the front wheel steering angle sensor 140, the torque sensor 150, and the wheel speed sensor 160 are all connected to a signal input end of the vehicle controller 170, and the steering motor controller 180 and the wheel hub motor controller 200 are all connected to a signal output end of the vehicle controller 170.

It will be appreciated that the particular model of product given above is only one particular example, and that in other embodiments, other models may be used.

When the system works, the specific process of carrying out the autonomous tracking of the vehicle is as follows:

1. in the running process of the vehicle, the signal acquisition system acquires the running state signal and the environmental information of the vehicle. The vehicle running state signal mainly comprises a front wheel steering angle signal, steering torque, wheel speed, a vehicle head course angle and transverse displacement. Wherein, the front wheel steering angle signal, the steering torque and the wheel speed are respectively acquired by a front wheel steering angle sensor 140, a torque sensor 150 and a wheel speed sensor 160; the heading angle is acquired in real time by a gyroscope inside the inertial navigation module 130; the lateral displacement of the vehicle is obtained by fusing and positioning the camera module 100 and the GPS module 120, and the environmental information mainly includes road information and obstacle conditions, and is obtained by fusing and measuring the camera module 100 and the laser radar module 110.

2. During the driving process of the vehicle, the vehicle control unit 170 receives and processes the measurement data of the signal acquisition system at the signal input end, and sends a first control instruction signal and a second control instruction signal to the steering motor controller 180 of the active steering system and the hub motor controller 200 of the hub motor system at the signal output end respectively.

3. The steering motor controller 180 of the active steering system receives a first control command signal from the vehicle control unit 170, and causes the steering execution motor 190 to output a desired torque, thereby controlling the front wheel rotation angle and the vehicle head heading angle to execute an autonomous tracking process according to a reference trajectory.

4. The in-wheel motor controller 200 of the in-wheel motor system receives the second control command signal from the vehicle control unit 170, and controls the in-wheel driving motor 210 to output a corresponding torque to control the forward speed of the vehicle and generate a yaw moment, so that the power deficiency of a single active steering system is overcome, the lateral stability of the vehicle body is further maintained, and the accuracy of the autonomous tracking process is improved.

According to the vehicle autonomous tracking system based on the active steering system and the hub motor system provided by the embodiment of the utility model, the autonomous tracking of the vehicle on the reference track is realized through the mutual coordination of the whole vehicle controller 170, the steering motor controller 180, the hub motor controller 200, the steering execution motor 190 and the hub driving motor 210, and the control accuracy and the safety and reliability of the vehicle autonomous tracking are further improved.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Claims

1. The vehicle autonomous tracking system based on the active steering system and the hub motor system is characterized by comprising a signal acquisition system, a vehicle control unit (170), the active steering system and the hub motor system,

the active steering system comprises a steering motor controller (180) and a steering execution motor (190) controlled by the steering motor controller (180);

the hub motor system comprises a hub motor controller (200) and a hub driving motor (210) controlled by the hub motor controller (200);

the signal acquisition system is connected with the input end of the vehicle control unit (170), the steering motor controller (180) and the hub motor controller (200) are both connected with the output end of the vehicle control unit (170), and the vehicle control unit (170) is used for receiving data acquired by the signal acquisition system and respectively sending a generated first control instruction signal for controlling steering and a second control instruction signal for driving and maintaining vehicle body stability to the steering motor controller (180) and the hub motor controller (200).

2. The active steering system and in-wheel motor system based vehicle autonomous tracking system of claim 1, characterized in that the vehicle running state signal comprises a front wheel steering angle signal, a steering torque, a wheel speed, a nose heading angle and a vehicle lateral displacement, and the environmental information comprises road information and obstacle condition.

3. The vehicle autonomous tracking system based on the active steering system and the in-wheel motor system as claimed in claim 2, characterized in that the signal acquisition system comprises a camera module (100), a laser radar (110), a GPS module (120), an inertial navigation module (130) and an on-vehicle sensor module, the camera module (100) is used for identifying lane lines, the laser radar (110) is used for identifying obstacles in the road, the GPS module (120) is used for locating the position of the vehicle and acquiring the lateral displacement information of the vehicle in combination with the camera module (100), the inertial navigation module (130) is used for acquiring the heading angle of the vehicle, the on-vehicle sensor module comprises a corner sensor (140) for acquiring the corner signal of the front wheel, a torque sensor (150) for acquiring the steering torque and a wheel speed sensor (160) for acquiring the wheel speed, the camera module (100), The laser radar (110), the GPS module (120), the inertial navigation module (130), the front wheel rotation angle sensor (140), the torque sensor (150) and the wheel speed sensor (160) are all connected with the input end of the vehicle control unit (170).

4. The active steering system and in-wheel motor system based vehicle autonomous tracking system of claim 3, characterized in that the vehicle's environmental information is obtained by the lidar (110) and the camera module (100).

5. The active steering system and in-wheel motor system based vehicle autonomous tracking system of claim 3, characterized in that the inertial navigation module (130) includes a gyroscope therein, with which the heading angle is measured.

6. The active steering system and in-wheel motor system based vehicle autonomous tracking system of claim 1, characterized in that the LiDAR (110) employs RS-LiDAR-16.

7. The active steering system and in-wheel motor system based vehicle autonomous tracking system of claim 1, characterized in that the GPS module (120) employs mobile communication TK-419.

8. The active steering system and in-wheel motor system based vehicle autonomous tracking system of claim 1, characterized in that the inertial navigation module (130) employs an astronomical measurement and control SKM-4 DX.

9. The vehicle autonomous tracking system based on the active steering system and the in-wheel motor system as claimed in any one of claims 1-8, wherein the vehicle control unit (170) is configured to receive and process the data sent by the signal acquisition system, and send a first control command signal for controlling steering and a second control command signal for driving and maintaining vehicle body stability to the steering motor controller (180) and the in-wheel motor controller (200), respectively.

10. The system of claim 9, wherein the steering motor controller (180) is configured to control the steering actuator motor (190) to output a desired torque based on the received first control command signal, and the hub motor controller (200) is configured to control the hub driving motor (210) to output a corresponding torque based on the received second control command signal.