CN216886864U - Man-machine co-driving steering device of automatic driving vehicle - Google Patents
Man-machine co-driving steering device of automatic driving vehicle Download PDFInfo
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- CN216886864U CN216886864U CN202123039794.7U CN202123039794U CN216886864U CN 216886864 U CN216886864 U CN 216886864U CN 202123039794 U CN202123039794 U CN 202123039794U CN 216886864 U CN216886864 U CN 216886864U
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Abstract
The utility model discloses a man-machine driving-sharing steering device of an automatic driving vehicle, which comprises a manual steering mechanism, a wire-controlled steering mechanism and a steering execution control mechanism; the manual steering mechanism comprises a steering wheel and a steering column connected with the steering wheel, and the steering column is connected with a manual steering gear; the steer-by-wire mechanism comprises a driver and a steer-by-wire device in power connection with the driver; the automatic drive-by-wire steering and the manual steering are relatively independent, and when the automatic drive-by-wire steering is carried out, the manual steering mechanism is in a static state; when manual driving turns to, the sensor can trigger signal and transmit for driving the controller, and under vehicle autopilot mode, the manual work can directly intervene moreover, has promoted the security of autopilot vehicle, and the steering system security is high.
Description
Technical Field
The utility model relates to the technical field of vehicle steering, in particular to a man-machine driving steering device for an automatic driving vehicle.
Background
The automatic driving vehicle senses and detects environmental information, namely vehicle state information, through the combination of a plurality of sensors, carries out decision processing through a vehicle intelligent driving control system, and controls the functions of vehicle steering, acceleration, braking and the like through a bottom layer control system to complete the automatic driving of the vehicle.
The steering performance of an autonomous vehicle is an important index for measuring an autonomous driving system, and the safety of the vehicle is concerned. At present, the automatic driving technology is not mature, and manual driving intervention is still needed for complex scenes, so that the independence of the original manual driving steering system needs to be ensured by the modified steering system, and the operation of a driver on a steering wheel cannot be influenced. The existing modified steer-by-wire system realizes the steering function in an automatic driving mode by driving a steering wheel or a steering shaft, and can cause that an intelligent driving control system can not judge whether the steering is manual steering or automatic steering.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a man-machine driving-together steering device of an automatic driving vehicle, which solves the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme:
a man-machine driving-together steering device of an automatic driving vehicle comprises a manual steering mechanism, a wire-controlled steering mechanism and a steering execution control mechanism;
the manual steering mechanism comprises a steering wheel and a steering column connected with the steering wheel, and the steering column is connected with a manual steering gear;
the steer-by-wire mechanism comprises a driver and a steer-by-wire device in power connection with the driver;
the steering execution control mechanism comprises a power input mechanism and a steering execution mechanism, and the power input mechanism is communicated with the steering execution mechanism through a manual steering gear and a steer-by-wire gear respectively.
As a further scheme of the utility model: the steering column comprises a steering shaft coaxially connected with the steering wheel, the steering shaft is in power connection with the manual steering gear, a sensor is arranged on the steering shaft, and the steering column and the manual steering gear are connected with the frame through a fixed rotating shaft.
As a further scheme of the utility model: the drive-by-wire steering mechanism comprises a connecting structure and a mounting structure, the connecting structure comprises a connecting shaft, the driver is in power connection with the drive-by-wire steering gear through the connecting shaft, and the driver and the drive-by-wire steering gear are fixedly connected with the frame through the mounting structure.
As a further scheme of the utility model: and a manual steering pipeline is arranged between the power input mechanism and the manual steering gear, a steer-by-wire pipeline is arranged between the power input mechanism and the steer-by-wire gear, and steering pipelines are arranged among the manual steering gear, the steer-by-wire gear and the steering executing mechanism.
As a further scheme of the utility model: the steering actuating mechanism comprises a hydraulic oil cylinder which is a bidirectional hydraulic oil cylinder, and pistons at two ends of the hydraulic oil cylinder are in power connection with the steering wheel through wheel-side multi-connecting rods.
As a further scheme of the utility model: the steering execution control mechanism comprises a steering angle feedback mechanism, the steering angle feedback mechanism comprises a corner sensor fixedly connected with the frame, and the corner sensor is in power connection with the wheel-side multi-connecting-rod through a transmission mechanism.
As a further scheme of the utility model: the transmission mechanism comprises a rotating pin shaft and a linkage shifting fork, a piston of the hydraulic oil cylinder, a wheel-side multi-connecting rod and the linkage shifting fork are rotatably connected through the rotating pin shaft, a rack is connected between the linkage shifting forks at two sides, the outer side of the rack is connected with a gear in a meshed mode, the gear is rotatably connected with the frame through an installation support, and the corner sensor is coaxially connected with the gear.
Compared with the prior art, the utility model has the beneficial effects that: on the basis of not changing the original manual steering system, the automatic drive-by-wire steering and the manual steering are relatively independent, and when the automatic drive-by-wire steering is carried out, the manual steering mechanism is in a static state; when manual driving turned to, the sensor can trigger signal and transmit for driving the controller, made the control system accuracy of intelligent driving distinguish at present whether to turn to for manual, moreover under vehicle autopilot mode, the manual work can directly intervene, has promoted the security of autopilot vehicle, and the steering system security is high.
Drawings
FIG. 1 is a schematic structural view of the present embodiment;
FIG. 2 is a schematic structural diagram of a manual steering mode according to the present embodiment;
FIG. 3 is a schematic structural diagram of an automatic steering mode according to the present embodiment;
FIG. 4 is a schematic view of a steering actuator control mechanism according to the present embodiment;
FIG. 5 is an enlarged view of a portion of FIG. 2;
FIG. 6 is an enlarged view of a portion of FIG. 3;
fig. 7 is a partially enlarged view of fig. 4.
In the figure:
1-manual steering mechanism, 11-steering wheel, 12-steering column, 121-steering shaft, 122-sensor, 123-fixing device and 13-steering gear;
2-steer-by-wire mechanism, 21-driver, 22-steering gear, 23-linkage structure, 231-linkage shaft, 232-mounting structure;
3-steering execution control mechanism, 31-power input mechanism, 32-steering execution mechanism, 321-hydraulic oil cylinder, 322-wheel edge multi-connecting rod, 33-corner feedback mechanism, 331-rotating pin shaft, 332-connecting shifting fork, 333-rack, 334-gear, 335-mounting bracket and 336-corner sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, in an embodiment of the present invention, a man-machine steering device for an autonomous vehicle includes a manual steering mechanism 1, a steer-by-wire mechanism 2, and a steering execution control mechanism 3.
The manual steering mechanism comprises a steering wheel 11 and a steering column 12 connected with the steering wheel 11, the steering column 12 is connected with a manual steering device 13, the steering column 12 comprises a steering shaft 121 coaxially connected with the steering wheel 11, the steering shaft 121 is in power connection with the manual steering device 13, a sensor 122 is arranged on the steering shaft 121, and the steering column 12 and the manual steering device 13 are connected with a frame through a fixed rotating shaft 123.
The steer-by-wire mechanism 2 comprises a driver and a steer-by-wire 22 in power connection with the driver 21, the steer-by-wire mechanism 2 comprises a connecting structure 23 and a mounting structure 232, the connecting structure 23 comprises a connecting shaft 231, the driver 21 is in power connection with the steer-by-wire 22 through the connecting shaft 231, and the driver 21 and the steer-by-wire 22 are fixedly connected with the frame through the mounting structure 232.
The steering execution control mechanism 3 comprises a power input mechanism 31 and a steering execution mechanism 32, wherein the power input mechanism 31 is respectively communicated with the steering execution mechanism 32 through a manual steering gear 13 and a steer-by-wire gear 22, an manual steering pipeline is arranged between the power input mechanism 31 and the manual steering gear 13, a steer-by-wire pipeline is arranged between the power input mechanism 31 and the steer-by-wire gear 22, steering pipelines are respectively arranged between the manual steering gear 13, the steer-by-wire gear 22 and the steering execution mechanism 32, the steering execution mechanism 32 comprises a hydraulic oil cylinder 321, the hydraulic oil cylinder 321 is a bidirectional hydraulic oil cylinder, and pistons at two ends of the hydraulic oil cylinder 321 are in power connection with steering wheels through wheel-side multi-connecting rods 322.
The steering execution control mechanism 3 comprises a steering angle feedback mechanism 33, the steering angle feedback mechanism 33 comprises a corner sensor 336 fixedly connected with the frame, the corner sensor 336 is in power connection with the wheel-side multi-connecting-rod 322 through a transmission mechanism, the transmission mechanism comprises a rotating pin 331 and a linkage shifting fork 332, a piston of a hydraulic oil cylinder 321, the wheel-side multi-connecting-rod 322 and the linkage shifting fork 332 are in rotating connection through the rotating pin 331, a rack 333 is connected between the linkage shifting forks 332 at two sides, a gear 334 is meshed and connected with the outer side of the rack 333, the gear 334 is in rotating connection with the frame through a mounting bracket 335, and the corner sensor 336 is coaxially connected with the gear 334.
In the manual driving braking mode, as shown in fig. 1, fig. 2, fig. 4 and fig. 5, the sensor 122 is driven to rotate by manually rotating the steering wheel 11, the sensor 122 transmits a rotation signal to the driving controller, the driving controller signals the power input mechanism 31, the power input mechanism 31 switches on a hydraulic pipeline channel of the manual steering mechanism 1, and switches off the hydraulic pipeline channel of the steer-by-wire mechanism 2; meanwhile, the steering wheel 11 drives the manual steering gear 13 to rotate, hydraulic oil conveyed by the power input mechanism 31 is input into the multi-link steering executing mechanism 32, and the vehicle starts to steer. The clockwise and counterclockwise rotation of the steering wheel 11 can control the rotation direction of the vehicle, and the rotation angle of the steering wheel 11 can control the rotation angle of the vehicle.
In the automatic driving mode of the vehicle, as shown in fig. 1, 3, 4, 6 and 7, when the vehicle needs to turn, the driving controller receives the target steering angle of the wheels and sends a signal to the power input mechanism 31, the power input mechanism 31 switches on the hydraulic pipeline channel of the steer-by-wire mechanism 2, and switches off the hydraulic pipeline channel of the manual steering mechanism 1; meanwhile, the driving controller signals the driver 21, the driver 21 starts to rotate, the drive-by-wire steering gear 22 is driven to rotate, the hydraulic oil conveyed by the power input mechanism 31 is input into the multi-link steering actuating mechanism 32, and the vehicle starts to steer. Meanwhile, the hydraulic oil cylinder 321 drives the rotation angle sensor 336 to rotate through the rack 333 and the gear 334, the rotation angle sensor 336 transmits an angle signal to the driving controller, the driving controller maps the angle signal into an actual steering angle of wheels through a set of algorithm, and the driving controller executes steering control according to the following control method to ensure that the automatic steering action of the vehicle is completed.
When the vehicle is in the automatic driving mode, manual intervention can be performed, a driver directly rotates the steering wheel 11 to drive the sensor 122 to rotate, the sensor 122 transmits a rotation signal to the driving controller, the driving controller signals the power input mechanism 31, the power input mechanism 31 is connected with a hydraulic pipeline channel of the manual steering mechanism 1, the hydraulic pipeline channel of the steer-by-wire mechanism 2 is closed, and then the vehicle performs steering action according to the operation of the driver.
In the present embodiment, the manual steering priority control method is a method in which the steering wheel 11 is manually turned and the vehicle immediately performs a steering operation by manual operation regardless of whether the vehicle is in the manual steering mode or the steer-by-wire mode.
A control method of a man-machine co-driving steering device of an automatic driving vehicle comprises the following steps:
s1, detecting the current steering control input, if the current steering control input is a manual control steering input, executing S2, and if the current steering control input is a steer-by-wire control input, executing S3;
s2, the power input mechanism 31 switches on a manual steering pipeline communicated with the manual steering gear 13, simultaneously switches off a steer-by-wire pipeline communicated with the steer-by-wire 22, rotates the steering wheel 11, and inputs steering control information to the manual steering gear 13 through the steering wheel 11 and controls steering;
s3, detecting the current steering control mode, if the current steering control mode is the manual steering mode, ignoring the current steer-by-wire control input, and continuing to execute manual control steering, if the current steering mode is the steer-by-wire mode, executing S4;
s4, receiving the steer-by-wire control input and controlling the steering execution through the steer-by-wire control input;
s4.1, the vehicle enters a steer-by-wire mode, the power input mechanism 31 acquires control information, the power input mechanism 31 is communicated with a steer-by-wire pipeline communicated with the steer-by-wire 22, and meanwhile, a manual steering pipeline communicated with the manual steering device 13 is closed;
s4.2, the driving controller acquires steering control information: the target steering angle of the steering wheel is theta 1;
s4.3, the driver 21 starts to turn according to the target turning angle, the turning direction is the first direction, and the turning wheel starts to rotate;
s4.4, the steering angle sensor 336 acquires the current steering angle and transmits the current steering angle, and the driving controller calculates the steering angle θ 2 of the current steering wheel according to the angle signal transmitted by the steering angle sensor 336, and if θ 1 is θ 2, executes S4.6; if theta 1 is larger than theta 2, executing S4.3; if theta 1 is less than theta 2, executing S4.5;
s4.5, the driver 21 is installed to rotate in a second steering direction, the second steering direction is opposite to the first steering mode in the S4.3, and S4.4 is executed;
s4.6, the driver 21 stops rotating.
It will be evident to those skilled in the art that the utility model 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. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A man-machine driving-together steering device of an automatic driving vehicle is characterized by comprising a manual steering mechanism (1), a wire-controlled steering mechanism (2) and a steering execution control mechanism (3);
the manual steering mechanism comprises a steering wheel (11) and a steering column (12) connected with the steering wheel (11), and the steering column (12) is connected with a manual steering gear (13);
the steer-by-wire mechanism (2) comprises a driver and a steer-by-wire device (22) which is in power connection with the driver (21);
the steering execution control mechanism (3) comprises a power input mechanism (31) and a steering execution mechanism (32), wherein the power input mechanism (31) is communicated with the steering execution mechanism (32) through a manual steering gear (13) and a steer-by-wire steering gear (22) respectively.
2. The man-machine co-driving steering device of the automatic driving vehicle as claimed in claim 1, wherein the steering column (12) comprises a steering shaft (121) coaxially connected with the steering wheel (11), the steering shaft (121) is in power connection with the manual steering gear (13), a sensor (122) is arranged on the steering shaft (121), and the steering column (12) and the manual steering gear (13) are connected with the vehicle frame through a fixed rotating shaft (123).
3. The man-machine co-driving steering device of the automatic driving vehicle as claimed in claim 1, wherein the steer-by-wire mechanism (2) comprises a coupling structure (23) and a mounting structure (232), the coupling structure (23) comprises a coupling shaft (231), the driver (21) is in power connection with the steer-by-wire device (22) through the coupling shaft (231), and the driver (21) and the steer-by-wire device (22) are fixedly connected with the vehicle frame through the mounting structure (232).
4. The man-machine co-driving steering device of the automatic driving vehicle as claimed in claim 1, wherein a manual steering pipeline is arranged between the power input mechanism (31) and the manual steering gear (13), a steer-by-wire pipeline is arranged between the power input mechanism (31) and the steer-by-wire gear (22), and steering pipelines are arranged between the manual steering gear (13), the steer-by-wire gear (22) and the steering executing mechanism (32).
5. The man-machine co-driving steering device of the automatic driving vehicle as claimed in claim 1, wherein the steering actuator (32) comprises a hydraulic oil cylinder (321), the hydraulic oil cylinder (321) is a bidirectional hydraulic oil cylinder, and pistons at two ends of the hydraulic oil cylinder (321) are in power connection with the steering wheel through a wheel-side multi-link (322).
6. The man-machine co-driving steering device of the automatic driving vehicle as claimed in claim 5, wherein the steering execution control mechanism (3) comprises a steering angle feedback mechanism (33), the steering angle feedback mechanism (33) comprises a rotation angle sensor (336) fixedly connected with the vehicle frame, and the rotation angle sensor (336) is in power connection with the wheel-side multi-link (322) through a transmission mechanism.
7. The man-machine co-driving steering device of the automatic driving vehicle as claimed in claim 6, wherein the transmission mechanism comprises a rotating pin shaft (331) and a linkage shift fork (332), a piston of the hydraulic oil cylinder (321), a wheel-side multi-link (322) and the linkage shift fork (332) are rotatably connected through the rotating pin shaft (331), a rack (333) is connected between the linkage shift forks (332) at two sides, a gear (334) is engaged and connected to the outer side of the rack (333), the gear (334) is rotatably connected with a vehicle frame through a mounting bracket (335), and the rotation angle sensor (336) is coaxially connected with the gear (334).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123039794.7U CN216886864U (en) | 2021-11-29 | 2021-11-29 | Man-machine co-driving steering device of automatic driving vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123039794.7U CN216886864U (en) | 2021-11-29 | 2021-11-29 | Man-machine co-driving steering device of automatic driving vehicle |
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| CN216886864U true CN216886864U (en) | 2022-07-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928402A (en) * | 2021-11-29 | 2022-01-14 | 安徽合力股份有限公司 | Man-machine co-driving steering device of automatic driving vehicle and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928402A (en) * | 2021-11-29 | 2022-01-14 | 安徽合力股份有限公司 | Man-machine co-driving steering device of automatic driving vehicle and control method |
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