7428results about "Automatic steering control" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

An inductive sensor system may comprise an upper rotor comprising an upper target having a first metallic pattern; a lower rotor comprising a lower target having a second metallic pattern; and a stationary circuit board positioned between the upper rotor and the lower rotor. The circuit board comprises one or more transmitter coil sets configured to generate electromagnetic field, and one or more receiver coil sets for sensing relative angular displacement movement between the upper rotor and the lower rotor. The one or more transmitter coil sets and the one or more receiver coil sets are circularly wound.

A number of variations may include a method including using at least one of brakes or propulsion energy to steer an autonomous or semi-autonomous vehicle if a primary, secondary or other redundant steering system for an autonomous or semi-autonomous vehicle has failed or is insufficiently unhealthy to perform a desired function, the method including determining if a primary, secondary or other redundant steering system of an autonomous or semi-autonomous vehicle has failed or is not sufficiently healthy to perform a desired function, and if so, converting a steer request into a desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, calculating a brake pressure sufficient to produce the desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, delivering brake pressures signals via a lateral control module to an actuator for at least one brake connected to a wheel of the vehicle so that the brake pressure causes the vehicle yaw at the desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration.

Methods and apparatus to adjust a steering angle of a vehicle in a self-driving mode are described herein. An example vehicle disclosed herein includes a steering controller including instructions and programmable circuitry to execute the instructions to access a path follower (PF) angle request, generate a virtual boost curve (VBC) angle request based on a torque input to a steering wheel, determine an angle blending weight based on the torque input and a speed of the vehicle, determine a final angle request based on the PF angle request, the VBC angle request, and the angle blending weight, and convert the final angle request to a torque request to be used to adjust a steering angle of the vehicle via a motor.

A method for cooperative vehicle operation includes receiving a first target angle signal associated with a handwheel of a vehicle, receiving a second target angle signal associated with an autonomous steering system of the vehicle, and, in response to a determination that a handwheel angle error between the first target angle signal and the second target angle signal is less than a handwheel error threshold: generating a handwheel motor torque command based on a position control motor torque command and a torque control motor torque command; and controlling a position of the handwheel of the vehicle based on the handwheel motor torque command.

A system for controlling a vehicle, includes: a central controller and multiple vehicle components. The vehicle components correspond to multiple functional domains, and at least one vehicle component in each of the functional domains is connected to the central controller. The central controller is configured to send first control information to the at least one vehicle component. The functional domains includes a power domain. A vehicle component in the power domain includes a motor controller and multiple drive motors corresponding to wheels and respectively driving the wheels. The first control information includes torque allocation information of each of the drive motors. The central controller is configured to send the torque allocation information to the motor controller according to a vehicle driving scenario.

The invention belongs to the field of vehicle control algorithms, and particularly relates to a torque control method and system based on steer-by-wire. The method comprises the steps that first pinion rotation angle data calculated based on road feeling motor working parameters and second pinion rotation angle data calculated based on steering execution motor working parameters are obtained; pID control processing is conducted on the first small gear rotating angle data and the second small gear rotating angle data, and PID torque is output; feedforward compensation torque is obtained through calculation according to the first pinion rotation angle data and the second pinion rotation angle data; and performing feed-forward compensation on the PID torque by using the feed-forward compensation torque to obtain a target torque of the steering execution motor. Calculating the required compensation torque in advance, and adding the compensation torque into PID (Proportion Integration Differentiation) control; and the system can respond to the input change more quickly. And meanwhile, PID control is used for accurately adjusting the deviation between the first pinion rotation angle data and the second pinion rotation angle data, and it is ensured that the system can operate in a stable state.

The invention discloses a vehicle control method and device and a vehicle, and belongs to the technical field of vehicles. Comprising the steps that under the condition that a steering wheel of a target vehicle is kept in the middle and rear wheels of the target vehicle steer abnormally, a target front wheel steering angle is determined on the basis of the difference value between the current rear wheel steering angle of the target vehicle and a target rear wheel steering angle and vehicle parameters, and the target rear wheel steering angle is the angle of the rear wheels of the target vehicle in the middle-back state; the target front wheel rotation angle is the rotation angle of the front wheels of the target vehicle for compensating the abnormal steering of the rear wheels; determining a target compensation torque based on the target front wheel steering angle; and controlling a front wheel motor of the target vehicle to output the target compensation torque so as to keep the target vehicle in a straight driving state by adjusting the front wheel angle of the target vehicle. Thus, the target compensation torque is output through the front wheel motor, track deviation caused by abnormal steering of the rear wheels can be compensated, and therefore the target vehicle can be kept running in a straight line, and the driving safety is improved.

The invention relates to an automatic driving vehicle steering and suspension cooperative control method based on reinforcement learning, and the method specifically comprises the following steps: 1, building a dynamic model of a vehicle steering system and a suspension system, and obtaining transverse and vertical vehicle motion states through controlling a steering angle and a suspension acting force; 2, constructing a control action and reward function of a vehicle steering system and a suspension system, and forming a reinforcement learning exploration strategy of vehicle steering and suspension cooperative control; 3, constructing intelligent agents of a steering system and a suspension system; and 4, constructing a reinforcement learning environment, and realizing cooperative control of the steering system and the suspension system through a multi-agent reinforcement learning method. According to the method, different vertical and transverse plane environments and different learning tasks are comprehensively considered, the data input dimension is reduced, the optimal motion control strategies under different working conditions are considered, and on the premise that accurate path tracking is guaranteed, the transverse roll stability and the vertical smoothness and comfort are improved through cooperative steering system and suspension system control.

Electro-Hydraulic Steering System and Method An electro-hydraulic steering system (1) includes a steering wheel (2) for setting a steering demand and a hydraulic steering actuator (11) for turning the steered wheel in response to the steering demand. An electrically controlled hydraulic valve (26) is arranged to supply pressurised fluid to the hydraulic steering actuator to turn the steered wheel according to a variable steering ratio. An electronic control unit (21) receives an angular position of the steering wheel and an angular position of the steered wheel. The control unit is operative to determine an angular misalignment between the steering wheel and the steered wheel and carry out a realignment procedure. The realignment procedure comprises calculating a compensation angle based on the angular misalignment and controlling the steering ratio based on the compensation angle by controlling the hydraulic valve to adjust the supply of pressurised fluid to the hydraulic steering actuator.

A steering device controls a turning angle of each wheel in a vehicle. The vehicle has wheels, which are not mechanically constrained to each other. The wheels are steered independently. The steering device includes an operation determination unit, a coordinate determination unit, a turning angle calculator, and steering actuators. The operation determination unit determines a vehicle operation mode based on the vehicle state. The coordinate determination unit determines the coordinates of the turning center of the vehicle based on the vehicle operation mode. The turning angle calculator calculates a turning angle command value for each wheel based on the coordinates of the turning center. The steering actuators are provided correspondingly to the respective wheels. These steering actuators steer the respective wheels according to the turning angle command values.

The invention provides a steering control method and equipment for a four-wheel independent driving and steering electric automobile, and belongs to the field of automobile steering. When the fault detector detects that the steering actuator breaks down, the fault state at the moment is quantified and transmitted to the self-adaptive fault-tolerant controller in real time, and the fault-tolerant controller calculates the needed additional yawing moment according to the current residual state of the steering actuator and the driving state of the vehicle; and then the vehicle steering function is jointly completed through hub motor differential drive and a residual steering actuator, and if the vehicle cannot be kept in a stable area after the steering actuator breaks down, steering degradation and parking processing are conducted. According to different failure types of the steer-by-wire system, vehicle steering can be completed through differential drive of the four-wheel hub motor and the residual steering actuator, and the cost is reduced while it is guaranteed that the vehicle has the steering function.

Provided is a steer-by-wire steering system (1) for a vehicle (2) that can appropriately bring the steered angle of the wheels to a prescribed relationship to the steering angle of a steering member (10) even when the steering angle of the steering member was changed while the vehicle was parked. When the steered angle of the wheels deviates from the prescribed relationship with the steering angle of the steering member upon startup (ST2: Yes), the control unit (15) drives at least one of the steering actuator (12) and the reaction force actuator (13) to bring the steered angle (α) of the wheels closer to the prescribed relationship with the steering angle (β) of the steering member (ST12) using a change in the transmission shift position from the park position (P) or the neutral position (N) to the travel position (D or R) as a trigger (ST8: Yes).

The invention relates to the validation of a driving corridor (22) for the lateral guidance of a motor vehicle (1) using a driver assistance system (2). Depending on environmental data (U), a driving corridor (22) with corridor boundaries (23) is determined, which define a first lane width (S1) for the lateral guidance of the motor vehicle (1). Subsequently, it is checked whether more than one driving trajectory (10, 12) lies within the corridor boundaries (23). For this purpose, it is determined whether one or more data points (11a, 13a) are located along a rear axle (5) of the motor vehicle (1), each of which is assigned to a different driving trajectory (10, 12).Depending on the result of the check, the determined driving corridor (22) is validated and the first lane width (S1) is used for the lateral guidance of the motor vehicle (1), or the determined driving corridor (22) is falsified and a different second lane width (S2) is used for the lateral guidance of the motor vehicle (1).

The vehicle control device of the present invention acquires characteristics of a road condition in front of a traveling vehicle based on external information; acquires vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics, and control variables concerning speed of the vehicle based on the external information; acquires trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics and the estimated state variables; and outputs the control commands for controlling the suspension device, steering device, and braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables. This improves travel stability of the vehicle on a road surface on which an irregularity such as ruts exists.

Provided are a high-frequency road sense generation method and apparatus, a device, a medium, and a vehicle. The method comprises: obtaining rack force measurement data during vehicle driving; querying the correspondence between a rack force and the vibration intensity of a steering wheel, and determining the vibration intensity of the steering wheel corresponding to the rack force measurement data; determining a motor torque of the steering wheel corresponding to the vibration intensity of the steering wheel; and controlling a motor (42) of the steering wheel to act on the basis of the motor torque of the steering wheel. In a steer-by-wire-based vehicle, the rack force measurement data is used for reflecting high-frequency road sense excitation of a road surface, a driver controls the steering wheel on the basis of the vibration intensity of the steering wheel, and can make a control action responding to the high-frequency road sense excitation of an actual road surface, thereby ensuring driving safety.

The invention relates to the technical field of steering systems, in particular to an angle control method for smooth angle response and rapid intervention. An angle control method for smooth angle response and rapid intervention comprises an angular velocity feed-forward PID algorithm, and the angular velocity feed-forward PID algorithm comprises the steps that the difference between a request angle and an actual angle is obtained to obtain an angle difference, the angle difference is subjected to the PID algorithm to obtain target motor torque, the target motor torque is converted into actually-executed motor torque through gradient output, and a steering wheel is controlled to rotate. The method is characterized in that the angle smooth response comprises a low-frequency compensation strategy and a high-frequency compensation strategy. Compared with the prior art, the angle control method for smooth angle response and rapid intervention is provided, the torque of the motor is calculated by adopting an angular velocity feed-forward PID algorithm, a low-frequency and high-frequency compensation strategy and a rapid intervention strategy are introduced, and the purpose of controlling a steering wheel to smoothly and rapidly reach a target angle can be achieved.

A steering system includes a steering wheel rotation limiting device being arranged radially offset to the steering wheel hub and including a base being fixed to the or another non-rotatable component of the steering system and a sliding element. The base includes two opposing end stop surfaces, and the sliding element is axially slidable parallel to the axis of rotation relative to the base and relative to the steering wheel hub between the two opposing end stop surfaces. The sliding element includes a projection that engages a spiral groove formed on a circumferential surface of the steering wheel hub so that rotation of the steering wheel hub causes axial movement of the sliding element, and so that abutment of the sliding element with one of the two end stop surfaces blocks movement of the sliding element and rotation of the steering wheel hub.

In a torque sensor, a sleeve is an annular member that is attached to a first rotating member. An intermediate member is an annular member that is placed on an outer circumferential surface of the sleeve. A magnet is an annular member that is placed on an outer circumferential surface of the intermediate member. A yoke is attached to a second rotating member and faces the magnet in a radial direction. A rotating member connecting portion of the sleeve has a cylindrical shape and is contact with the first rotating member. An intermediate member connecting portion is at a position shifted with respect to the rotating member connecting portion in an axial direction. The intermediate member includes a thin portion and a thick portion having a thickness greater than that of the thin portion.

Methods and apparatus to determine rack force are disclosed. An example apparatus includes a rack to couple to a steering knuckle of a vehicle, a ball nut engaged with the rack, a first ring gear coupled to the ball nut, a first pinion fixed to a motor, the first pinion engaged with the first ring gear, the motor to rotate the ball nut to move the rack, a motor encoder to detect a rotation of the first pinion, a second ring gear coupled to the ball nut, and a sensor fixed to a second pinion, the second pinion engaged with the second ring gear, the second pinion to rotate as the second ring gear rotates, the sensor to detect a rotation of the second pinion, the rotation of the second pinion and the rotation of the first pinion corresponding to a force on the rack.

The invention provides a distributed electric drive vehicle four-wheel differential torque enhanced steering control method and system, and belongs to the technical field of artificial intelligence risk prediction. The vehicle is provided with an upper-layer torque decision module, a lower-layer torque cooperation module and a vehicle-mounted sensor; selecting a pivot steering auxiliary strategy according to an actual driving scene, and pressing a function key to enter a working condition; vehicle dynamic information is obtained through a vehicle-mounted sensor, whether a vehicle is in an in-situ steering state or a small-radius steering state is judged by combining vehicle body static data, and when a selected function key is in an in-situ steering state or a small-radius steering state, the vehicle dynamic information is obtained in real time, and fuzzy reasoning and a neural network algorithm are combined. The ground attachment coefficient and the target yaw angle speed are intelligently judged, and therefore accurate control over the steering torque is achieved; or a double-controller structure is adopted, the torque of each wheel can be effectively distributed and adjusted under complex working conditions, and flexible control and stable running of the vehicle in a narrow space are ensured.

A method for controlling a steer-by-wire steering system for a motor vehicle having steerable front and rear wheels in emergency steering operation comprises checking the steering system for the presence of a fault state and performing the emergency steering operation to maintain original driving behaviour if a fault state is detected, including: determining a target lateral acceleration on the basis of a current steering wheel position and a current vehicle speed, determining a yaw moment and, from the yaw moment, a general wheel steering angle for the original driving behaviour, where the general wheel steering angle is equal to a difference between a front wheel steering angle and a rear wheel steering angle, determining a front wheel steering angle correction and a rear wheel steering angle correction, and determining drive torques and / or braking torques for the front wheels and the rear wheels, which are distributed appropriately by the torque vectoring system.

The invention relates to the technical field of automobile driving, and provides a vehicle driving control method, a drive-by-wire steering gear and a vehicle, and the method is applied to the drive-by-wire steering gear in a drive-by-wire steering system of the vehicle. The current driving state information of the vehicle is obtained through a curve speed auxiliary system and a vehicle control unit; the current driving state information comprises a current steering wheel rotating angle and a current steering wheel rotating speed which are obtained through a curve speed auxiliary system, and a current vehicle speed and a current lateral acceleration which are obtained through a vehicle control unit; calculating a target wheel turning angle and a target wheel turning angle speed of the vehicle according to the current driving state information; and determining a target lateral acceleration according to the target wheel rotation angle and the target wheel rotation angle speed, and performing driving control on the vehicle based on the target lateral acceleration. According to the method, the safety of vehicle driving control can be guaranteed when the drive-by-wire steering column has the abnormal fault.

The invention relates to the technical field of automobile electric control, in particular to a new energy automobile electric control steering control method and system, and the method comprises the steps: obtaining and preprocessing a four-wheel vibration data sequence, carrying out the segmentation and consistency evaluation of the vibration data sequence of each wheel, and selecting a current data sequence in an optimal segment to calculate a road condition influence coefficient. And matching the current data sequence with the historical vibration data sequence, calculating the similarity to determine the influence weight, adjusting the influence coefficient in combination with the steering angle change rate of the historical vibration data sequence, inputting the adjusted pavement condition influence coefficient into the ECU, dynamically adjusting the steering auxiliary torque, and realizing accurate steering control. According to the method, the optimal segment is selected through segment processing and consistency evaluation to accurately reflect the current road condition, the steering auxiliary torque is dynamically adjusted in combination with historical vibration data sequence matching and the steering angle change rate, and the driving safety and comfort are improved.

A vehicle steering system by wire to control the lateral motion of the vehicle is provided. The system includes a steering wheel torque feedback actuator assembly with two controllers, a front road wheel steering actuator assembly with two zonally isolated motors and controllers, two separate power assemblies, two separate vehicle communication networks in separate wiring bundle assemblies, and three private system communication networks between each node in the steering system. The redundant components are zonally isolated such that common cause of faults do not endanger the system when one or more of the components fails. The system can include differential gearbox road wheel actuator to allow absolute position of the road wheels. The system can further include a set of position sensor assemblies including two magnetic and one inductive sensor assemblies.

The invention relates to an inductive torsion bar torque sensor (100), comprising at least a first and a second stator arrangement (10,10A) with each a receiving structure (11,11A) comprising a periodically repeated structure having a first and a second period, a first and a second rotor (20,20 A) rotatably arranged with respect to the first and second stator arrangements (10,10 A) forming two inductive position sensors (1,11A) for measuring an angle at each end of a torsion bar (5) and generate respective signals, at least one excitation or transmitter coil (40) and an oscillator circuit for generating a periodic alternating voltage and coupling it into the excitation coil(s) (40). The periodicity of the first receiving structure (11) is different from the periodicity of the second receiving structure (11A), the first and second receiving structures (11,11A) comprising a first and a second coil structure (101,101;102,102), the first rotatable rotor (20) serving the purpose of influencing the strength of an inductive coupling between the excitation coil(s) (40) and the first receiving structure (11), the second rotatable rotor (20A) serving the purpose of influencing the strength of an inductive coupling between the / an excitation coil(s) (40) and the second receiving 15 structure (11A). The signals generated by the first and second pair of receiving structures (11,11A) and rotors (20,20A) are orthogonal.

A control device mounted on a steer-by-wire steering device mounted on a vehicle includes a steering assembly including a steering wheel to be steered by a steering operator, a turning assembly including a first turning wheel and a second turning wheel, a turning side motor to drive the turning assembly, and a turning side controller configured or programmed to control a control target including the turning side motor. The turning side controller is configured or programmed to include a model following controller configured or programmed to generate a correction torque to correct an input torque input to the control target based on output of the control target and a nominal model based on a configuration of the control target. The model following controller is configured or programmed such that a transfer function of the control target is restricted to a transfer function of the nominal model.

A steering system for use in turning steerable vehicle wheels includes a steering wheel and a housing. A pinion is in the housing and connected to the steering wheel via a shaft such that rotation of the steering wheel urges the pinion to rotate about an axis relative to the housing. The pinion has a recess. An elastic element is compressed in the recess between the pinion and the shaft. The elastic element applies an axial force to the pinion that dampens axial movements of the pinion relative to the housing.

The invention discloses a road interference detection and compensation control method for a steering system, and belongs to the technical field of vehicle steering systems. The method specifically comprises the steps of road bumping detection and steering system road interference compensation control, the road bumping detection is that a detection signal is obtained through a time window integration method by utilizing the amplitude difference of the high-frequency interference torque of the steering system, and the road bumping is detected by adopting a dynamic threshold value in combination with various signals such as the steering torque and the vehicle speed; the method can adapt to different vehicle speed scenes and realize accurate identification. According to the road surface interference compensation control method, a steering system kinetic model containing interference torque is established, an expansion state observer is innovatively designed, the system state and the total disturbance quantity are actively estimated, state information which cannot be obtained by a traditional sensor is obtained, and the steering system dynamic model is obtained through a feed-forward control and compensation control method. Effective disturbance torque compensation control is achieved, and the robustness of a steering control system under the working condition of a bumpy road surface is enhanced.

Vehicles and related systems and methods are provided for mitigating lane departures, alternatively referred to as lane keeping assistance. One method of assisting vehicle operation involves determining a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating a steering system of the vehicle based at least in part on a current steering angle, a first difference between the control trajectory and a reference lateral trajectory for the vehicle and a second difference between the control trajectory and a lane boundary, for example, by minimizing a weighted sum of the differences. The method continues by determining a steering angle command for the vehicle based at least in part on the control trajectory and autonomously operating one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.