3584results about "Steering linkages" 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 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 relates to a chassis structure of a vehicle based on corner modules and a control system, the chassis structure of the vehicle comprises the corner modules corresponding to four wheels of the vehicle respectively, in each corner module, a wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module, and the wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module. The 90-degree two-way steering execution system is used for driving wheels corresponding to the angle module to realize positive and negative 90-degree steering; the wheel side motor driving assembly and the 90-degree bidirectional steering execution system are separately arranged; the suspension and supporting structure is used for keeping geometric stability of the suspension when the wheels corresponding to the angle modules steer and buffering road impact. The electronic mechanical braking unit is used for achieving braking of wheels corresponding to the angle modules. In this way, synchronous control over steering, driving, vibration reduction and braking of the vehicle in different running modes can be achieved through cooperative work of the angle modules in the wheels of the vehicle, and a vehicle chassis has higher flexibility and more scene adaptability in the running process of the vehicle.

The invention is suitable for the technical field of automobile chassis, and provides an angle module system and a modular extensible chassis, and the angle module system adopts an unequal-length double-wishbone suspension and has good geometric kinematics characteristics. And the offset distance of the main pin is reasonably controlled through the design of steering knuckle parts. By adopting the angle module bracket, the efficient integration of the driving unit and the frame structure is realized, the number of connecting points of the angle module system and the chassis is reduced, and the serialization, integration and modularization of the chassis system are facilitated. A distributed main pin steering gear is adopted, and the geometrical shape design of upper and lower control arms of the suspension is matched, so that wheels have a larger turning angle range, and the maneuverability is improved. In addition, the modular extensible chassis adopts modular design, and the number of shafts can be flexibly configured according to carrying requirements.

A steer by wire includes a steering wheel holding system. An emulator controller receives vehicle data from vehicle systems and determines whether a vehicle is in one of a driving mode and a non-driving mode. When the vehicle is in the driving mode, the emulator controller transmits a command to an emulator switching system to electrically couple the phases of an emulator motor to a power source to enable the emulator motor to implement steer by wire operations placing the steering wheel in an un-hold mode. When the vehicle is in the non-driving mode, the emulator controller transmits a command to the emulator switching system to electrically couple the phases of the emulator motor to ground to short the phases of the emulator motor to ground to generate a resistive torque to resist rotational movement of a steering wheel of the vehicle placing the steering wheel in a hold mode.

The utility model belongs to the technical field of vehicle control, and particularly relates to a steering angle module and a vehicle. The steering angle module comprises a bogie, a steering motor, a wheel side system and a multi-connecting-rod structure. The bogie is arranged in the Z direction; the steering motor is arranged at the top end of the bogie and can be connected with a vehicle body. The wheel side system is arranged on one side of the bogie in the Y direction. The multi-link structure is connected to the bogie and the wheel side system. The steering motor can drive the bogie to drive the wheel side system and the multi-connecting-rod structure to rotate around the axis of the steering motor together. In the process that the steering motor drives the bogie to rotate, the bogie can drive the multi-connecting-rod structure, then the wheel side system is driven to rotate together, and steering is achieved. Therefore, the reliability in the steering process is ensured through the multi-connecting-rod structure, and the steering angle module has good operation stability.

To provide a controller for rotary electric machine and an electric power steering apparatus which can set a control gain which is used for controlling the d-axis current command value based on the q-axis current deviation between the current command value of q-axis and the current detection value of q-axis, considering the response of the current of q-axis. A controller for rotary electric machine changes the current command value of d-axis, based on a value obtained by multiplying a proportional gain to a q-axis current deviation which is a deviation between the current command value of q-axis and the current detection value of q-axis; and changes the proportional gain in inverse proportion to the rotational angle speed.

The present invention relates to a reconfigurable steering feel design method and control system for steer-by-wire. The method includes: constructing a steering feel feedback model, the steering feel feedback model including an alignment torque module based on rack force observation, an assist torque module, a friction compensation torque module, a damping compensation torque module, an inertia compensation torque module, and a soft stop limiting torque module, and adding outputs of all modules to obtain a total expected steering feel motor torque; inputting signals of a steering wheel angle, speed and torque, an observed rack force and a vehicle speed into the designed steering feel feedback model to obtain the total expected steering feel motor torque, transmitting it to a steering feel motor, and outputting this steering feel feedback torque to a steering wheel through the steering feel motor; each module in the designed steering feel feedback model being provided with adjustable parameters. Compared with the existing technologies, the present invention incorporates the characteristics of reconfigurability, and can adapt to different steering wheel hardware characteristics and steering feel requirements by adjusting relevant parameters.

A driving assistance device according to an embodiment of the present invention comprises: a recognition unit that recognizes the surrounding situation of a vehicle; a driving control unit that executes lane keep control for controlling at least steering of the vehicle such that the vehicle travels within a predetermined lane, on the basis of the recognition results of the recognition unit; and a reception unit that receives a vehicle lane change intention through an operation by an occupant of the vehicle. The driving control unit stops the lane keep control when the reception unit receives the lane change intention during the execution of the lane keep control, and restarts the lane keep control at a timing earlier than completion of the lane change.

A commercial vehicle having various GVWR configurations with a vehicle body with two or more axles, and a cab that does not pivot relative to the vehicle body, and a battery-electric-powered or hydrogen-electric-powered propulsion system. The vehicle has a center of gravity that is substantially lower, and a track width which is substantially narrower, than an articulating tractor-trailer combination with a trailer size comparable to the vehicle body of the present invention, providing substantially increased stability, and with all axles preferably being steerable E-axles, substantially improving the turning and trailing of the vehicle. Additional attributes are improved safety, increased payload weight and cubic capacity, higher productivity and lower maintenance costs. Many other advantages flow from this vehicle design.

The invention relates to a wheel side speed reduction driving integrated assembly coupling kingpin steering and steering trapezoid, and relates to the technical field of automobile wheel side driving suspension assembly angle modules. A wheel-side speed reduction driving integrated assembly coupling kingpin steering and a steering trapezoid comprises a driving motor, a wheel-side speed reducer and a steering knuckle, the upper end and the lower end of the steering knuckle are rotationally connected with an upper control arm and a lower control arm respectively, and the upper end of the steering knuckle is connected with a kingpin steering mechanism. The upper control arm is connected to the kingpin steering mechanism, the kingpin steering mechanism drives the steering knuckle to rotate around the axis of a kingpin, a vertical connecting rod is connected to the upper portion of the lower control arm, the upper end of the vertical connecting rod extends in the longitudinal direction of a vehicle to form a proportional connecting rod, and a spring shock absorber is hinged to the end of the proportional connecting rod. And the middle part of the proportional connecting rod is connected with the vehicle body. The large-angle steering device has the advantages that space layout optimization is achieved, motion interference among all components is avoided, and the large-angle steering effect can be achieved.

The invention relates to the technical field of vehicle chassis control, and discloses a vehicle wheel edge steering angle control method, a vehicle and a controller. The method is applied to a wheel side steering control system and comprises the steps that in a preset communication period, a steering controller receives an angle request generated by at least one of an intelligent driving controller and a steering mechanism; the steering controller confirms a target angle request in the received angle requests based on a preset rule, and generates a corresponding wheel edge angle control instruction and / or a steering wheel control instruction according to the target angle request; the wheel edge angle control instruction is distributed to the at least two wheel edge steering controllers; and the wheel edge steering controller performs steering control on the wheels connected with the wheel edge steering controller based on the received wheel edge angle control instruction. According to the method, independent control over the steering angle of each wheel edge is achieved, and the flexibility requirement and high-response control over vehicle chassis control are improved.

The invention discloses a transverse fixed axle assembly capable of achieving Ackerman steering through mechanical linkage, and belongs to the technical field of engineering vehicle chassis. A rear axle is transversely and rigidly fixed to a frame through a shear-resistant box girder structure, and a front axle is connected to the frame through two springs; the rotating pair structures are symmetrically arranged at the two ends of the axle main body and comprise embedded heavy-duty bearings; one end of the steering knuckle arm is hinged to the axle main body through a rotating pair structure, and the other end is connected with the steering pull rod; one end, far away from the rotating pair structure, of the steering pull rod is connected with the steering oil cylinder; the steering pull rod of the front axle and the steering pull rod of the rear axle are crossed and hinged in an X shape, so that intersection points of axes of the front and rear wheels converge at an instantaneous steering center during steering. Abrasion and slipping of tires can be reduced, steering precision is ensured through a pure mechanical structure, the failure risk of an electric control system is avoided, and the system is suitable for heavy equipment such as mining trucks and port cranes.

A steering reaction force control device, a steering reaction force control method, and a steering reaction force control system according to the present invention determine an amount of torque of a steering reaction force imparted by the reaction force actuator and a direction of torque for returning the steering operation input member to a neutral position from a physical quantity related to a vehicle speed of the vehicle and a physical quantity related to the operation information of the steering operation input member, and output a control signal based on the amount of torque and the direction of torque to the reaction force actuator. As a result, it is possible to prevent the hunting of the operating position of the steering operation input member when the steering operation input member is retained in a given steering position.

The invention provides a vehicle steering wheel and road wheel steering synchronous self-adaptive control method and system, and relates to the technical field of vehicle control. Comprising the following steps: calculating a first steering torque by adopting a feedforward control mode based on an obtained rotating angle and rotating speed of a vehicle steering wheel; performing steering control on the road wheels according to the first steering torque to obtain actual steering angle data of the road wheels; second steering torque is calculated through a PID control closed loop based on the angle deviation between the rotation angle of the vehicle steering wheel and the actual rotation angle of the road wheel; and carrying out dynamic weighting calculation on the first steering torque and the second steering torque to obtain a synthetic motor torque, and carrying out steering control on the vehicle according to the synthetic motor torque. The steering angle of the steering wheel and the steering angle of the road wheel are controlled to achieve rapid, accurate and stable synchronous steering, and the driving safety and comfort are greatly improved.

A vehicle control method, a vehicle control apparatus (100), a vehicle control system (200), and a computer-readable storage medium (300). The vehicle control method in the embodiments of the present application comprises: acquiring the current yaw rate and the current sideslip angle; acquiring a target yaw rate and a target sideslip angle; and, on the basis of the current yaw rate, the current sideslip angle, the target yaw rate and the target sideslip angle, individually controlling a plurality of front wheels and / or a plurality of rear wheels of a vehicle.

The invention provides a reinforcement learning steering control method and system based on a safety barrier, electronic equipment and a storage medium, and relates to the field of automatic driving safety control. The method comprises the following steps: sensing current states of each participating object and a vehicle in an environment; respectively performing state estimation and future moment position prediction on the participating objects and the vehicle by applying Kalman filtering to obtain relative position probability distribution of each participating object and the vehicle in a plurality of steps in the future; calculating the collision probability of the vehicle and each participating object, and determining the overall collision risk according to the probability; the total collision risk is compared with a preset collision safety barrier threshold value, when the total collision risk is larger than the collision safety barrier threshold value, a safety barrier is triggered, candidate wheel turning angles are projected into an action set meeting safety constraints based on minimum change projection, and the projected wheel turning angles are issued and executed; if not, triggering is not conducted, and a reinforcement learning decision maker is adopted to output candidate wheel rotation angles and issue for execution.

A traction and steering control system and method for a small- or zero-radius-turning maintenance vehicle. The traction and steering control system may determine operator intended speed and direction by monitoring positions of speed and directional control members and one or more operational parameters of the vehicle. The vehicle may then generate drive wheel speed commands that achieve the intended speed and direction by determining how best to manipulate the left and right drive wheels. In some instances, the drive wheel speed commands are disproportionately related to the positions of the speed and directional control members.

The embodiment of the invention provides a steering-by-wire system feedback control method, device and equipment, a medium and a vehicle, and relates to the technical field of vehicles. The method comprises the steps that in response to received vehicle state parameters, a target torque value output to a steering wheel and a detected actual torque value of the steering wheel are determined; based on the difference value between the actual torque value and the target torque value, deviation torque corresponding to the steering wheel is determined; based on the deviation torque, the actual torque value and the target torque value, a first torque value distributed to the magnetorheological damper and a second torque value distributed to the permanent magnet motor are determined; and on the basis of the first torque value and the second torque value, control signals are output to the magnetorheological damper and the permanent magnet motor correspondingly. According to the method, the problems that in the related technology, power consumption is high during feedback control of the steering-by-wire system, and the overheating risk is likely to exist are effectively solved.

The invention discloses an unmanned mine car front and rear wheel synchronous steering system which comprises a car frame, a front steering axle and a rear steering axle, and the front steering axle and the rear steering axle are installed on a car and control steering through a steering system. The steering system comprises a front axle working cylinder, a front axle driven cylinder, a rear axle working cylinder and a rear axle driven cylinder, the front axle working cylinder and the front axle driven cylinder control front wheels of a vehicle to rotate, the rear axle working cylinder and the rear axle driven cylinder control rear wheels of the vehicle to rotate, and cavities of the front axle working cylinder and the rear axle working cylinder are communicated with a working port A and a working port B of a three-position four-way reversing valve through pipelines respectively. Cavities of the front axle driven cylinder and the rear axle driven cylinder are communicated through a valveless rigid connecting pipeline to form a rigid series oil way, and in the rigid series oil way, the amount of oil discharged by the front wheel working cylinder and the front axle driven cylinder is equal to the amount of oil received by the rear wheel working cylinder and the rear axle driven cylinder. Mechanical hydraulic synchronization of steering angles of front and rear wheels of the vehicle is realized, delay and fault risks of dependence on sensors are eliminated, and high-reliability rigid synchronization is realized.

To provide a vehicle control system which can suppress an influence of a driving support function on improvement of responsibility, even when it has a plurality of driving support devices.SOLUTION: A control device mounted on a vehicle includes: a reception part for receiving first requests including identification information of an application mounted on a plurality of driving support systems from the driving support systems; an adjustment part for adjusting the plurality of first requests; a calculation part for calculating second requests including the identification information, on the basis of the adjustment result by the adjustment part; and a distribution part for distributing the second requests, to the two or more actuator systems capable of acquiring the first requests without through the control device from the driving support systems.SELECTED DRAWING: Figure 2

A vehicle steer-by-wire system includes two front wheels of the vehicle, a steering wheel adapted to receive a steering input, and a steer-by-wire module configured to electronically transmit a steering signal to control a steering orientation of the two front wheels according to the steering input received at the steering wheel, sense a feedback parameter of the two front wheels, and supply a steering feedback signal to the steering wheel according to the sensed feedback parameter of the two front wheels. The system includes one or more vehicle sensors configured to sense at least one operating parameter of the vehicle, and a steering feedback control module configured to receive the at least one operating parameter of the vehicle, determine a driving intensity index according to the at least one operating parameter, and modify the steering feedback signal supplied to the steering wheel according to the determined driving intensity index.

Provided herein is a system and method for damping the steering of a vehicle. Methods of an example include: steering a pair of steerable wheels of the vehicle with a steering mechanism about an axis substantially perpendicular to an axis of rotation of a respective one of the pair of steerable wheels; damping the steering mechanism at a first damping rate in response to a steering change rate of the pair of steerable wheels being below a predetermined rate; and damping the steering mechanism at a second damping rate in response to the steering change rate of the pair of steerable wheels being above the predetermined rate.

The embodiment of the invention provides a vehicle steering control method and device, electronic equipment and a vehicle. The method comprises the steps that under the condition that the yaw velocity deviation of a vehicle is larger than a set threshold value, vehicle driving state parameters, the road curvature of a current lane where the vehicle is located, the distance between the vehicle and a boundary line of the current lane, the steering angle of a steering wheel and vehicle steering parameters are obtained; and determining whether to trigger a lane keeping assist system of the vehicle at a predicted time based on the vehicle driving state parameter, the road curvature, the spacing, the steering wheel angle, and the vehicle steering parameter. According to the method, the specific time when the lane keeping auxiliary system should be triggered can be more accurately judged, the problem that the normal driving operation of a driver is affected due to frequent false triggering of the lane keeping auxiliary system in the returning process after the driver actively steers is avoided, and the vehicle safety is improved.

The invention relates to a vehicle steering control method and device, vehicle-mounted equipment, a vehicle, a medium and a product. The method comprises the following steps: acquiring an ideal Ackerman corner of each wheel in a vehicle in a current driving state; according to the ideal Ackerman rotation angle of each wheel and the current driving state, estimating the side slip angle of each wheel to obtain an estimated side slip angle of each wheel; determining whether the vehicle is in a high-speed steering state according to the current driving state; determining a target steering angle according to whether the vehicle is in a high-speed steering state, the estimated slip angle of each wheel and the ideal Ackerman steering angle of each wheel; and controlling each wheel of the vehicle according to the target steering angle. By adopting the method, the deviation of the ideal Ackerman angle in the steering process can be compensated by estimating the slip angle, so that the handling stability and the steering precision of the vehicle can be improved, and the stability and the safety of the vehicle in the running process are further improved.

The invention discloses a steer-by-wire actuator with a mechanical self-locking function, and relates to the technical field of steer-by-wire actuators, the steer-by-wire actuator comprises an actuator shell assembly, and a wheel steering mechanism capable of sliding left and right and a self-locking driving mechanism used for driving the wheel steering mechanism are arranged in the actuator shell assembly; a displacement detection mechanism is further arranged in the actuator shell assembly, a lower circulation mechanism is arranged on the back face of the actuator shell assembly, and an upper circulation mechanism is arranged on the left side and the top of the actuator shell assembly jointly. After waste lubricating oil in the actuator shell assembly is discharged, new lubricating oil can be used for conducting high-pressure washing on the inner wall of the actuator shell assembly, the washing area is increased in cooperation with rotation of the hollow shaft, and meanwhile residual lubricating oil is discharged under driving of the new lubricating oil; and therefore, the residual quantity of waste lubricating oil in the actuator shell assembly is effectively reduced, and the influence on the service life of new lubricating oil is reduced.

To provide an operation support device of a vehicle which can clearly determine, when cross wind received by an own vehicle is estimated based on behavior change of a preceding vehicle, whether behavior change is caused by cross wind or by handle operation of an operator.SOLUTION: An operation support control unit 11 comprises: a cross wind estimation control calculation unit 11a; an ALKB control calculation unit 11b; and a cooperative control unit 11c. The cross wind estimation control calculation unit 11a detects an automobile rank (height, width) and behavior change (roll angle, lateral movement amount) based on information of a preceding vehicle P recognized by a forward recognition device 21, determines, when a roll direction is the same as a lateral movement direction, the behavior change caused by cross wind and obtains steering amount thereto based on the estimated wind speed of the cross wind received by the preceding vehicle P. The ALKB control calculation unit 11b obtains steering control amount to drive an own vehicle M along a target travel route. The cooperative control unit 11c corrects the steering control amount with the steering amount to set a new steering control amount including the cross wind.SELECTED DRAWING: Figure 2

Selectively powered caster wheels for a maintenance apparatus are described. A motor attached to the caster wheel(s) can be selectively powered to apply force to the caster wheel. This force can be selected to overcome another force sensed at the maintenance apparatus, or to steer the maintenance apparatus on a desired course or direction. The caster wheels can be configured to orient along a direction of motion of the maintenance apparatus, in response to power from the motor or in response to the motion of the maintenance apparatus itself. In further embodiments, the motor(s) can be selectively activated or deactivated by an operator of the maintenance apparatus, in response to a remote control signal, or in response to an onboard or offboard controller of the apparatus.