8247results about "Electrical steering" 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.

The present application relates to the technical field of electric vehicles, and discloses a fault-tolerant actuator control method and apparatus for an electric vehicle, a storage medium, and a vehicle. The method comprises: acquiring vehicle-mounted sensor information and a reference trajectory of a distributed drive electric vehicle; using an MPC algorithm to perform trajectory tracking on the basis of the vehicle-mounted sensor information and the reference trajectory to obtain an expected front wheel steering angle; when at least one steering actuator is determined to be faulty on the basis of the vehicle-mounted sensor information, calculating a differential power moment on the basis of the expected front wheel steering angle and an actual front wheel steering angle corresponding to a previous moment by using a sliding mode control (SMC) algorithm; when at least one driving actuator is determined to be faulty on the basis of the vehicle-mounted sensor information, calculating a torque corresponding to the current moment on the basis of the differential power moment by using a distribution optimization algorithm based on minimum tire adhesion utilization; and controlling steering of the distributed drive electric vehicle on the basis of the torque corresponding to the current moment. The present application implements reliable control of the vehicle in a case where a steering actuator and a driving actuator fail at the same time.

The invention relates to a system friction torque estimation method and device, a steer-by-wire system and a vehicle. The estimation method is applied to the steer-by-wire system, the steer-by-wire system comprises a steering execution module, a rack of the steering execution module is hinged to a steering tie rod, the other end of the steering tie rod is hinged to a steering knuckle arm, the steering knuckle arm is fixedly connected with a tire, and the rack pulls the steering tie rod to reciprocate so as to drive the steering knuckle arm and the tire to rotate around a main pin. The estimation method comprises the following steps: observing through a sliding-mode observer to obtain an estimated value of the lateral force of the front axle; obtaining a function relationship between the lateral force of the front axle and the moment Mkp of the main pin; the estimated rack force is obtained on the basis of Mkp = Frack, the function relation between the front axle lateral force and the master pin moment Mkp and the estimated value of the front axle lateral force, Frack is the rack force, and rack is the length of a steering knuckle arm; and obtaining an estimated system friction torque based on the estimated rack force and the system friction torque-rack force function model.

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.

The invention relates to the technical field of automobile power assemblies, in particular to an automobile steering motor assembly and a manufacturing method, the automobile steering motor assembly is manufactured and assembled on a machining line, the automobile steering motor assembly comprises a machine shell, one side of the machine shell and a front end cover are installed through fastening screws, and the other side of the machine shell and the front end cover are installed through fastening screws. The motor assembly comprises a front end cover and a casing, stable sealing connection between the front end cover and the casing is ensured, a clamping jaw is arranged on one side of the front end cover and serves as a torque transmission interface of the motor assembly, an O-shaped ring is arranged on the inner side of the front end cover and used for improving the sealing performance of the connecting position of the front end cover and the casing, and a rotor assembly is arranged on one side of the clamping jaw. Through the technological processes of precise engraving, heating assembly, cooling fixation, cleaning lubrication, strict detection and the like, high-precision manufacturing and stable assembly of the vehicle steering motor assembly are ensured, and the problems that an existing vehicle motor assembly is insufficient in sealing performance, prone to being eroded by the environment and insufficient in structural strength are solved.

A driving dynamics system for a vehicle may include a primary control unit for detecting and / or generating steering commands and braking commands; a brake system having first and second electrohydraulic pressure supply units; four hydraulically actuable wheel brakes of respective wheels; electrically actuable brake pressure adjustment valves; and an electric steering actuator for actuating at least one axle. The driving dynamics system may implement a steering command during normal operation to actuate at least one of the pressure supply units and the steering actuator and / or, to implement a braking command during normal operation, to actuate at least the second pressure supply unit and at least the brake pressure adjustment valves for a wheel-specific pressure adjustment and, in a fault case, to actuate at least the first pressure supply unit and at least the brake pressure adjustment valves for a wheel-specific pressure adjustment.

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.

Disclosed in the present application are a corner module and a vehicle, the corner module comprising a suspension system and a steering system, wherein the steering system comprises a steering power assembly, a steering execution assembly and a steering transmission assembly; the steering execution assembly comprises a first steering knuckle and a second steering knuckle, wherein the first steering knuckle is arranged on a traveling system, and the first steering knuckle is connected to the steering transmission assembly; the second steering knuckle is connected to the suspension system; and the first steering knuckle is movably connected to the second steering knuckle, such that the first steering knuckle turns around a movable connection point of the first steering knuckle and the second steering knuckle. In the corner module, decoupling of a steering axis from the suspension system is achieved, the position of the movable connection point is conveniently configured to form a more rational steering axis, the degree of design freedom is increased, the steering performance is better considered, excessive constraint on the degree of freedom of the traveling system is avoided to a certain extent, and motion interference between the steering system and the suspension system is reduced, thereby improving the flexibility, safety and stability of the steering system of the corner module.

Described therein is an improved assisted steering system includes a built-in / integrated ring on the steering wheel, for use with a mobile / removable drive unit. In various implementations, the built-in / integrated ring is non-removeable, such that issues with misalignment do not occur from installation error or during use. Further, because the drive unit is mobile / removable, the drive unit may be moved between vehicles without removing the steering wheel. In various implementations, the assisted steering system may be used by multiple vehicles simply by installing the steering wheel with integrated ring in each vehicle desired to have assisted steering and installing the drive unit in the vehicle desired to be driven at that time. Further because the steering wheel is not removed when moving the drive unit, the vehicle remains operational and drivable by manual steering.

A suspension includes a knuckle to which a wheel of a vehicle is fastened, a steering drive portion connected to the knuckle, a lower arm positioned at a lower end portion of the steering drive portion and including a first end portion connected to the knuckle and a second end portion connected to a vehicle body frame, a connecting link including a first end portion connected to an upper end portion of the steering drive portion, an upper arm connected to a second end portion of the connecting link, a damper connecting the upper arm and the vehicle body frame, and a push rod including a first end portion connected to the upper arm and a second end portion connected to the lower arm.

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.

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).

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.

The invention is applicable to the technical field of automobile steer-by-wire, and provides a fault-tolerant control method for a redundant steer-by-wire system based on dynamic torque distribution, which comprises the following steps: judging whether the steer-by-wire system has a fault according to vehicle state information, and if the current steering motor has a fault, entering a dual-motor fault-tolerant switching state; performing coordination control on the double motors according to a real-time fault diagnosis result, and determining expected torque and expected torque switching time of the current double motors; according to the expected torque and the expected switching time of the current double motors, the torque is smoothed by using a quintic S curve, and a torque switching curve of the double motors is obtained; and after the dual-motor torque switching curve is determined, a redundant motor torque curve is obtained through torque relation calculation, so that torque switching can be completed when the steering system breaks down. According to the method, torque switching can be rapidly and stably completed when the steer-by-wire system breaks down, and therefore the fault tolerance performance and driving safety of the steer-by-wire system are improved.

The invention relates to the technical field of vehicle drive-by-wire function safety, and discloses a brake-by-wire and steering-by-wire fault reconstruction system and a vehicle redundancy architecture wherein a fusion diagnosis module is used for obtaining sensor parameters in a brake subsystem and a steering subsystem in real time through a plurality of sensors; the fault reconstruction module is used for performing multi-level fault reconstruction on the braking subsystem based on a three-level response mechanism according to the fault type and the fault severity level; performing redundancy control link dynamic switching on the steering subsystem; and the resource scheduling module is used for determining the energy distribution proportion of brake locking and steering differential motion according to the voltage of the shared emergency power supply. According to the embodiment of the invention, the global composite fault criterion library is constructed through the fusion diagnosis module, the multi-dimensional and cross-system combined diagnosis of the braking subsystem and the steering subsystem is realized, the complex fault mode can be effectively covered, the recognition and response capability of the system to multiple concurrent faults is improved, and the safety degree of the vehicle is further improved.

The invention discloses a vehicle transverse movement control method and device of a dual-motor vehicle, a storage medium and a computer program product, and relates to the field of vehicles, the method comprises the steps that under the condition that a vehicle transverse movement request is received, the working mode of a wheel steering system of the dual-motor vehicle is switched to a target mode; determining an output motor torque of the dual-motor vehicle when the dual-motor vehicle starts to slip in the target area, and determining a feed-forward item torque according to the output motor torque; pID item closed-loop torques of the multiple wheels are determined according to the real-time rotating speeds of the multiple wheels in the vehicle transverse moving process; and according to the feedforward item torque and the PID item closed-loop torque, real-time demand torque of a vehicle front axle motor and a vehicle rear axle motor in the vehicle transverse moving process is determined, and the vehicle front axle motor, the vehicle rear axle motor and a wheel brake are controlled according to the real-time demand torque. And the dual-motor vehicle is controlled to transversely move in the target area in a driving and braking cooperative control mode.

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.

The invention discloses a light passenger car chassis steering stability self-adaptive control method, which comprises the following steps of: collecting multi-dimensional working condition parameters in real time, and covering 12 types of key parameters such as a steering wheel rotating angle and a wheel speed; after preprocessing and abnormity diagnosis, double models are adopted to estimate the dynamic state of the vehicle in parallel; dynamically setting a control target, and realizing personalized control in combination with driver style recognition; the control quantity is optimized through multi-mode strategy dynamic switching and steering and braking system cooperative control; and actuator dynamic compensation, scenarized self-learning and multi-stage fault handling mechanisms are introduced. According to the method, the complex working condition adaptability is improved, the response speed is controlled, the subsystem cooperation efficiency is improved, the system robustness and the long-term use performance are enhanced, and the driving safety of the light bus is effectively guaranteed.

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.

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.

The invention discloses a shear forklift steering control method and system based on central point dynamic differential, and the method comprises the following steps: S1, sensor module calibration: collecting the angle values of the right limit and the left limit of a shear forklift steering mechanism, calculating the difference value between the right limit and the left limit, converting the difference value into an actual degree, and carrying out the calibration of a sensor module; calibrating a scale factor and a straight-going intermediate value; s2, real-time steering angle calculation: reading a current measured value of an angle sensor, judging whether a left wheel is an inner side wheel or an outer side wheel, and calculating a current steering angle alpha in combination with a scale factor; s3, dynamic differential ratio calculation: based on the steering angle alpha in the step S2, calculating a central point turning radius R through a central point steering geometric model, and deriving an inner and outer wheel differential ratio K; and S4, adjusting and outputting the target rotating speeds of the inner wheel and the outer wheel according to the differential ratio K to realize dynamic differential control. By dynamically adjusting the rotating speed of the motor, the load difference of the motor can be reduced, the service life is prolonged, and the steering stability is improved.

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.