WO2021249223A1

WO2021249223A1 - Redundant mechanism steer-by-wire device and control method

Info

Publication number: WO2021249223A1
Application number: PCT/CN2021/097196
Authority: WO
Inventors: 姜廷龙; 高尚; 常秀岩; 侯慧贤; 侯杰
Original assignee: 中国第一汽车股份有限公司
Priority date: 2020-06-11
Filing date: 2021-05-31
Publication date: 2021-12-16
Also published as: CN111674458A

Abstract

A redundant mechanism steer-by-wire device, the redundant mechanism steer-by-wire device comprising a steering wheel (1), a road feeling simulator (2) and a steering actuator (3), wherein the road feeling simulator (2) comprises: a first driving electric motor (22) and a second driving electric motor which are redundant to each other and are each in transmission connection with the steering wheel (1); a first controller (21) and a second controller which are redundant to each other and are in communication connection with each other; and a first sensor (23); and the steering actuator (3) comprises: a steering actuation member capable of being connected to tires of an automobile; a third driving electric motor (32) and a fourth driving electric motor which are redundant to each other and are each in transmission connection with the steering actuation member; a third controller (31) and a fourth controller, which are redundant to each other and are in communication connection with each other; and a second sensor (33). The first controller (21) can be in communication connection with the third controller (31), and the second controller can be in communication connection with the fourth controller. Further disclosed is a control method applied to the redundant mechanism steer-by-wire device. Full redundancy design is carried out on electronic components in a steer-by-wire system, thereby effectively preventing steering failure of a whole vehicle caused by single-point failure of electronic components, and ensuring safe driving of the vehicle.

Description

Redundant mechanism wire-controlled steering device and control method

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office with an application number of 202010531755.X on June 11, 2020, and the entire content of this application is incorporated into this application by reference.

Technical field

This application relates to the field of automobile technology, for example, to a redundant mechanism wire-controlled steering device and a control method.

Background technique

In recent years, the intelligent control of automobiles has become a hot spot in the industry, and the requirements for intelligent chassis are getting higher and higher. Steer-by-wire technology has attracted attention due to its high degree of integration, intensive structural design, good passive safety, and variable steering angle transmission ratio. This technology has become a steering technology trend.

Summary of the invention

The following is an overview of the topics detailed in this article. This summary is not intended to limit the scope of protection of the claims.

In related technologies, some electronic components in the steer-by-wire system are not redundantly set. When the vehicle is driving, it is easy to cause the steering failure of the whole vehicle due to the single-point failure of the electronic components that are not redundantly set, and even affect it. To the safe driving of the vehicle.

Therefore, there is a need for a redundant mechanism-by-wire steering device and control method to improve the above situation.

The present application provides a redundant mechanism steer-by-wire device and control method. The electronic components in the steer-by-wire system are fully redundantly designed, thereby effectively preventing the steering failure of the entire vehicle caused by the single-point failure of the electronic components, and ensuring that the vehicle can Drive safely.

This application adopts the following technical solutions:

A redundant mechanism-by-wire steering device includes a steering wheel, and further includes:

Road sense simulator, including:

Two mutually redundant first drive motors and second drive motors, which are respectively connected in transmission with the steering wheel;

Two first controller and second controller that are mutually redundant and mutually communicatively connected, the first controller is electrically connected to the first driving motor, and the second controller is electrically connected to the second driving motor. Electromechanical connection, the first controller can control the torque exerted on the steering wheel by the first drive motor, and the second controller can control the torque exerted on the steering wheel by the second drive motor ；

A first sensor, the first sensor is respectively connected to the first controller and the second controller in communication, and the first sensor can collect the steering torque and rotation angle signals of the car;

Steering actuators, including:

The steering actuator can be connected with the tire of the car;

Two mutually redundant third drive motors and fourth drive motors are respectively connected to the steering actuator in transmission;

Two third controllers and a fourth controller that are mutually redundant and mutually communicatively connected, the third controller is electrically connected to the third drive motor, and the fourth controller is electrically connected to the fourth drive motor. Electromechanical connection, the third controller can control the steering actuator to achieve steering by controlling the third drive motor, and the fourth controller can control the steering actuator to achieve steering by controlling the fourth drive motor ；

A second sensor, the second sensor is respectively connected to the third controller and the fourth controller in communication, and the second sensor can collect the steering angle signal of the car;

The first controller can be communicatively connected with the third controller, and the second controller can be communicatively connected with the fourth controller.

In an embodiment, a gateway is further included, and the gateway is respectively communicatively connected with the first controller, the second controller, the third controller, and the fourth controller.

In an embodiment, it further includes a first igniter and a second igniter that are redundant to each other. The first igniter is connected to the first controller and the third controller respectively, and the second igniter is The igniter is respectively connected with the second controller and the fourth controller.

In an embodiment, it further includes a first power supply and a second power supply that are mutually redundant, the first power supply is electrically connected to the first controller and the third controller, and the second power supply is respectively It is electrically connected to the third controller and the fourth controller.

In an embodiment, the first sensor is a torque angle sensor.

In an embodiment, the second sensor is a rotation angle sensor.

A control method of a redundant mechanism-by-wire steering device, applied to the redundant mechanism-by-wire steering device according to claims 1-6, comprising:

The first controller receives the first torque signal and the first rotation angle signal of the car steering collected by the first sensor, receives the vehicle speed signal forwarded by the gateway, and receives the second torque signal and the second torque signal output by the third drive motor from the third controller. The second corner signal collected by the sensor, the second controller receives the first torque signal and the first corner signal of the car steering collected by the first sensor; receives the vehicle speed signal forwarded by the gateway, and receives the signal sent by the fourth controller The second torque signal output by the fourth drive motor and the second rotation angle signal collected by the second sensor;

The third controller receives the second rotation angle signal of the car steering collected by the second sensor, receives the first rotation angle request signal sent by the first controller, and the fourth controller receives the car steering signal collected by the second sensor. A second turning angle signal, receiving a second turning angle request signal sent by the second controller;

The first controller is based on the first torque signal and the first rotation angle signal, the vehicle speed signal, the second torque signal output by the third drive motor, and the second rotation angle signal collected by a second sensor , The first steering reverse torque applied to the steering wheel is calculated, and the second controller is based on the first torque signal and the first rotation angle signal, the vehicle speed signal, and the output of the fourth drive motor. The second torque signal and the second rotation angle signal collected by the second sensor are calculated to obtain a second steering reverse torque applied to the steering wheel;

The first controller and the second controller communicate with each other to verify;

The first controller controls the first drive motor according to the verification result, the second controller controls the second drive motor according to the verification result, and the synchronous output torque acts on the steering wheel;

The third controller calculates the first steering assist torque applied to the steering actuator according to the second rotation angle signal and the first rotation angle request signal sent by the torque rotation angle signal. The fourth controller calculates the second steering assist torque applied to the steering actuator according to the second rotation angle signal and the second rotation angle request signal sent by the second controller;

Mutual communication verification between the third controller and the fourth controller;

The third controller controls the third drive motor according to the verification result, and the fourth controller controls the fourth drive motor according to the verification result, and the synchronous output torque acts on the steering actuator.

In an embodiment, when the first controller or the second controller cannot receive the first torque signal, the first rotation angle signal, the second torque signal, and the second rotation angle signal, the first control The controller and the second controller realize the normal operation of the first drive motor and the second drive motor through mutual communication verification, and the synchronous output torque acts on the steering wheel.

In an embodiment, when the third controller cannot receive the second corner signal and the first corner request signal sent by the first controller, or the fourth controller cannot receive the first corner signal When the second rotation angle signal and the second rotation angle request signal sent by the second controller, the third controller and the fourth controller realize that the third drive motor and the fourth drive motor are normal through mutual communication verification Work, the synchronous output torque acts on the steering actuator.

In an embodiment, when the first controller or the first drive motor fails to work, the second controller can control the second drive motor to work normally, and the output torque acts on the steering wheel .

After reading and understanding the drawings and detailed description, other aspects can be understood.

Description of the drawings

Figure 1 is a schematic diagram of a redundant mechanism-by-wire steering device of the present application;

Figure 2 is a schematic diagram of a redundant mechanism-by-wire steering device of the present application.

In the picture:

1-steering wheel; 2-road sense simulator; 21-first controller; 22-first drive motor; 23-first sensor; 3-steering actuator; 31-third controller; 32-third drive Motor; 33-second sensor; 4-first igniter; 5-gateway; 6-first power supply; 7-second power supply.

detailed description

The technical solution of the present application will be described below in conjunction with the drawings and the embodiments. It can be understood that the example embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for ease of description, the drawings only show parts related to the present application, but not all of them.

In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood under specific circumstances.

In order to effectively prevent the steering failure of the entire vehicle caused by the single-point failure of electronic components, and to ensure the safe driving of the vehicle, as shown in Figs. Sense simulator 2 and steering actuator 3.

Among them, the road sensing simulator 2 includes: two mutually redundant first drive motors 22 and second drive motors, both of which are connected in transmission with the steering wheel 1; two mutually redundant first controllers and mutually connected in communication 21 and the second controller, the first controller 21 is electrically connected to the first driving motor 22, the second controller is electrically connected to the second driving motor, the first controller 21 can control the first driving motor 22 to apply to the steering wheel 1 The second controller can control the torque exerted on the steering wheel 1 by the second drive motor; the first sensor 23, the first sensor 23 are respectively connected to the first controller 21 and the second controller in communication, the first sensor 23 can collect car steering torque and angle signals.

The steering actuator 3 includes: a steering actuator, which can be connected to the tires of a car; two mutually redundant third drive motors 32 and a fourth drive motor, both of which are connected in transmission with the steering actuator; two mutually redundant and mutually redundant The third controller 31 and the fourth controller are communicatively connected, the third controller 31 is electrically connected to the third driving motor 32, the fourth controller is electrically connected to the fourth driving motor, and the third controller 31 can control the first The three driving motors 32 control the steering actuator to achieve steering, and the fourth controller can control the steering actuator to achieve steering by controlling the fourth driving motor; the second sensor 33 and the second sensor 33 are respectively connected with the third controller 31 and the fourth controller Communication connection, the second sensor 33 can collect the steering angle signal of the car; the first controller 21 can be communicatively connected with the third controller 31, and the second controller can be communicatively connected with the fourth controller.

By setting the road sense simulator 2 and the steering actuator 3, the road sense simulator 2 includes a first drive motor 22 and a second drive motor that are redundant to each other, and are redundant to each other and can control the first drive motor separately 22 and the first controller 21 and the second controller of the second drive motor, and the first sensor 23 are respectively connected with the first controller 21 and the second controller; the steering actuator 3 includes a third drive that is redundant to each other The motor 32 and the fourth drive motor, and the third controller 31 and the fourth controller that are mutually redundant and capable of controlling the third drive motor 32 and the fourth drive motor respectively, and the second sensor 33 and the third controller respectively 31 is connected with the fourth controller, through the fully redundant design of the electronic components in the steer-by-wire system, thereby effectively preventing the steering failure of the whole vehicle caused by the single-point failure of the electronic components, and ensuring the safe driving of the vehicle.

In an embodiment, the redundant mechanism-by-wire steering device further includes a gateway 5, which is respectively communicatively connected with the first controller 21, the second controller, the third controller 31, and the fourth controller. Public communication is provided through the gateway 5, so that the signals of the first controller 21, the second controller, the third controller and the fourth controller can communicate with each other, ensuring that the road sensor simulator 2 and the steering actuator 3 communicate through signals, so that When the vehicle is turning, it can simulate and reflect the actual turning situation.

In one embodiment, the redundant mechanism-by-wire steering device further includes a first igniter 4 and a second igniter that are mutually redundant, and the first igniter 4 is connected to the first controller 21 and the third controller 31, respectively. , The second igniter is respectively connected with the second controller and the fourth controller. By setting two igniters, it is ensured that even if one of them fails, the other can still be controlled normally, so that the road feel simulator 2 and the steering actuator 3 can work normally, so as to ensure driving safety.

In an embodiment, the redundant mechanism-by-wire steering device further includes a first power source 6 and a second power source 7 that are mutually redundant, and the first power source 6 is electrically connected to the first controller 21 and the third controller 31, respectively, The second power supply 7 is electrically connected to the third controller 31 and the fourth controller, respectively. By setting up two power sources, it is guaranteed that the redundant mechanism-by-wire steering device can work normally.

In an embodiment, the first sensor 23 is a torque rotation angle sensor. Used to collect torque and rotation angle signals, and transmit the signals to the first controller 21 and the second controller. The second sensor 33 is a rotation angle sensor, which can collect the required rotation angle during the steering process of the car and transmit it to the third controller 31 and The fourth controller.

This embodiment provides a control method of a redundant mechanism-by-wire steering device, which includes the following steps:

S1. The first controller 21 receives the vehicle steering torque and rotation angle signals collected by the first sensor 23, receives the vehicle speed signal forwarded by the gateway, and receives the torque signal and rotation angle signal output by the third drive motor (32) sent by the third controller , The second controller receives the vehicle steering torque and rotation angle signals collected by the first sensor 23, receives the vehicle speed signal forwarded by the gateway, and receives the torque signal and rotation angle signal output by the fourth drive motor from the fourth controller;

S2. The third controller 31 receives the car steering angle signal collected by the second sensor 33, receives the rotation angle request signal sent by the first controller 21, and the fourth controller receives the car steering angle signal collected by the second sensor 33, and receives The corner request signal sent by the second controller;

S3. The first controller 21 calculates the steering reverse torque applied to the steering wheel 1 according to the torque and rotation angle signals, the vehicle speed signal, the torque signal and the rotation angle signal output by the third drive motor 32, and the second controller according to the torque and rotation angle Signal, the torque signal output by the fourth drive motor, and the rotation angle signal to calculate the reverse steering torque applied to the steering wheel 1;

S4. The first controller 21 and the second controller communicate with each other to verify;

S5. The first controller 21 controls the first drive motor 22 according to the verification result, and the second controller controls the second drive motor according to the verification result, and the synchronous output torque acts on the steering wheel 1;

S6. The third controller 31 calculates the steering assist torque applied to the steering actuator according to the rotation angle signal, torque and rotation angle signal, and the rotation angle request signal sent by the first controller. The fourth controller calculates the steering assist torque applied to the steering actuator according to the rotation angle signal and torque and rotation angle signal. The steering angle request signal sent by the second controller is calculated to obtain the steering assist torque applied to the steering actuator;

S7, the third controller 31 and the fourth controller communicate with each other to verify;

S8. The third controller 31 controls the third drive motor 32 according to the verification result, and the fourth controller controls the fourth drive motor according to the verification result, and the synchronous output torque acts on the steering actuator.

In an embodiment, when the first controller 21 is unable to receive the torque and rotation angle signals, the vehicle speed signal and the rotation angle signal, the first controller 21 and the second controller realize the first drive motor 22 and the second drive motor 22 through mutual communication verification. The drive motor works normally, and the synchronous output torque acts on the steering wheel 1. Similarly, when the second controller cannot receive the torque and rotation angle signals, the vehicle speed signal, and the rotation angle signal, the normal operation of the first drive motor 22 and the second drive motor is ensured by communicating with the first controller 21.

In one embodiment, when the third controller 31 cannot receive the torque and rotation angle signal and the rotation angle request signal sent by the first controller, the third controller 31 and the fourth controller implement the third drive motor through mutual communication verification 32 and the fourth drive motor work normally, and the synchronous output torque acts on the steering actuator. Similarly, when the fourth controller cannot receive the torque and rotation angle signals and the rotation angle request signal sent by the second controller, it communicates with the third controller 31 to ensure the normal operation of the third drive motor 32 and the fourth drive motor.

In an embodiment, when the first driving motor 22 cannot work, the second controller can control the second driving motor to work normally, and the output torque acts on the steering wheel 1.

The third controller 31 and the fourth controller of the steering actuator 3 perform steering angle follow-up control according to the steering angle signal sent by the road-sensing simulator 2, and follow the target steering angle to achieve steering control. The first controller 21 and the second controller of the road sensing simulator 2 calculate the steering of the steering wheel 1 according to the vehicle speed signal forwarded by the gateway 5, and the torque signal output by the third driving motor 32 and the fourth driving motor of the steering actuator. According to the steering actuator 3's angle signal and the steering actuator 3 output torque signal, the road feel excitation is simulated. After the road feel and the steering hand force are superimposed, the reverse torque is output through the motor of the road feel simulator 2 to simulate the steering hand force and Hand feeling: When a single point failure occurs in an external signal, both the road-sensing simulator 2 and the steering actuator 3 can interact with each other through their own internal private communication according to one signal to ensure the normal operation of the two channels. When the internal signal of the road sense simulator 2 or the steering actuator 3 fails at a single point, the other road can work normally to ensure steering safety.

Obviously, the above-mentioned embodiments of the present application are only used to clearly illustrate the examples of the present application, and are not intended to limit the implementation manners of the present application. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is unnecessary and impossible to list all the implementation methods here. Any modification, equivalent replacement and improvement made within the spirit and principle of this application shall be included in the protection scope of the claims of this application.

Claims

A redundant mechanism-by-wire steering device includes a steering wheel (1), and further includes:

Road sense simulator (2), including:

Two mutually redundant first drive motors (22) and second drive motors are respectively connected to the steering wheel (1) in transmission;

Two first controllers (21) and a second controller that are mutually redundant and mutually communicatively connected, the first controller (21) is electrically connected to the first drive motor (22), and the second The controller is electrically connected to the second drive motor, the first controller (21) can control the torque applied by the first drive motor (22) to the steering wheel (1), and the second control A device capable of controlling the torque exerted on the steering wheel (1) by the second drive motor;

The first sensor (23), the first sensor (23) is respectively communicatively connected with the first controller (21) and the second controller, and the first sensor (23) can collect the steering torque and angle of the car Signal;

Steering actuator (3), including:

The steering actuator can be connected with the tire of the car;

Two mutually redundant third drive motors (32) and fourth drive motors are respectively connected to the steering actuator in transmission;

Two third controllers (31) and fourth controllers that are mutually redundant and mutually communicatively connected, the third controller (31) is electrically connected to the third drive motor (32), and the fourth The controller is electrically connected to the fourth drive motor, the third controller (31) can control the steering actuator to realize the steering by controlling the third drive motor (32), and the fourth controller can pass Controlling the fourth drive motor to control the steering actuator to achieve steering;

The second sensor (33), the second sensor (33) is respectively connected to the third controller (31) and the fourth controller in communication, the second sensor (33) can collect the steering angle of the car Signal;

The first controller (21) can be communicatively connected with the third controller (31), and the second controller can be communicatively connected with the fourth controller.
The device according to claim 1, further comprising a gateway (5), the gateway (5) and the first controller (21), the second controller, and the third controller (31) respectively Communicatingly connected with the fourth controller.
The device according to claim 1, further comprising a first igniter (4) and a second igniter that are mutually redundant, the first igniter (4) and the first controller (21) and The third controller (31) is connected, and the second igniter is respectively connected with the second controller and the fourth controller.
The device according to claim 1, further comprising a first power supply (6) and a second power supply (7) mutually redundant, the first power supply (6) and the first controller (21) and The third controller (31) is electrically connected, and the second power supply (7) is electrically connected with the third controller (31) and the fourth controller, respectively.
The device according to claim 1, wherein the first sensor (23) is a torque rotation angle sensor.
The device according to claim 1, wherein the second sensor (33) is a rotation angle sensor.
A control method of a redundant mechanism-by-wire steering device applied to the redundant mechanism-by-wire steering device according to claims 1-6 includes:

The first controller (21) receives the first torque signal and the first rotation angle signal of the car steering collected by the first sensor (23), the vehicle speed signal forwarded by the gateway (5), and the third drive motor (32) sent by the third controller ) The second torque signal output, and the second rotation angle signal collected by the second sensor; the second controller receives the first torque signal and the first rotation angle signal collected by the first sensor (23) of the car steering , The vehicle speed signal forwarded by the gateway (5), and the second torque signal output by the fourth drive motor issued by the fourth controller and the second rotation angle signal collected by the second sensor;

The third controller (31) receives the second corner signal of the car steering collected by the second sensor (33) and the first corner request signal sent by the first controller (21); the fourth controller Receiving the second turning angle signal of the vehicle steering collected by the second sensor (33) and the second turning angle request signal sent by the second controller;

The first controller (21) is based on the first torque signal and the first rotation angle signal, the vehicle speed signal, the second torque signal output by the third drive motor (32), and the second torque signal The second rotation angle signal collected by the sensor calculates the first steering reverse torque applied to the steering wheel (1); the second controller is based on the first torque signal and the first rotation angle signal, the The vehicle speed signal, the second torque signal output by the fourth drive motor, and the second rotation angle signal collected by the second sensor are used to calculate the second steering reversal applied to the steering wheel (1) Torque

The first controller (21) and the second controller communicate with each other to verify;

The first controller (21) controls the first drive motor (22) according to the verification result, and the second controller controls the second drive motor (22) according to the verification result, and synchronously outputs torque to be applied to the steering wheel ( 1) on;

The third controller (31) calculates the first steering assist torque applied to the steering actuator according to the second rotation angle signal and the first rotation angle request signal sent by the first controller; the fourth The controller calculates the second steering assist torque applied to the steering actuator according to the second rotation angle signal and the second rotation angle request signal sent by the second controller;

The third controller (31) and the fourth controller communicate with each other to verify;

The third controller (31) controls the third drive motor (32) according to the verification result, and the fourth controller controls the fourth drive motor (32) according to the verification result, and synchronously outputs a torque to be applied to the steering actuator superior.
The method according to claim 7, wherein, in response to determining that the first controller (21) cannot receive the first torque signal, the first rotation angle signal, the second torque signal, and the second torque signal A rotation angle signal, or in response to determining that the second controller cannot receive the first torque signal, the first rotation angle signal, the second torque signal, and the second rotation angle signal, the first controller ( 21) The first drive motor (22) and the second drive motor work normally with the second controller through mutual communication verification, and synchronously output torque to be applied to the steering wheel (1).
The method according to claim 7, wherein, in response to determining that the third controller (31) cannot receive the second rotation angle signal and the first rotation angle request signal, or in response to determining that the fourth controller (31) The second rotation angle signal and the second rotation angle request signal cannot be received, and the third controller (31) and the fourth controller realize the third drive motor (32) and the third drive motor (32) through mutual communication verification. The fourth driving motor works normally and synchronously outputs torque to be applied to the steering actuator.
The method according to claim 7, wherein, in response to determining that the first controller or (21) or the first drive motor (22) cannot work, the second controller controls the second drive motor Normal work, output torque to be applied to the steering wheel (1).