6726results 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.

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.

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.

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.

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 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 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.

Disclosed is a corner module apparatus for a vehicle. The corner module includes a driving unit that provides drive power to a wheel of the vehicle, a braking unit that interferes with rotation of the wheel to generate braking power, and a suspension unit connected to the driving unit. The suspension unit absorbs shock transferred from a road surface. The corner module also includes a steering unit connected to the suspension unit and rotated about a steering axis inclined with respect to the wheel. The steering unit adjusts a steering angle of the wheel.

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.

The invention relates to an amphibious vehicle and a running and steering system thereof. The running and steering system of the amphibious vehicle comprises wheels, a suspension swing arm connected to a vehicle frame, a steering gear and a driver. The wheel comprises a rim and a spoke assembly. The spoke assembly comprises a center connecting piece arranged in the rim in a sleeved mode and blades connected between the center connecting piece and the rim. The steering gear is connected to the center connecting piece through the suspension swing arm and used for controlling the turning angle of the wheels. The driver is connected to the center connecting piece through the half shaft and used for controlling rotation of the wheels, and the blades can push the amphibious vehicle to run and steer by controlling the rotation direction and the rotation angle of the wheels. According to the driving and steering system of the amphibious vehicle, a power source and a transmission structure do not need to be additionally arranged, the structure is simple, light weight of the whole vehicle is facilitated, and cost is lower; and the wheels are directly connected with a power system of the vehicle, so that larger torque and thrust can be provided, and the vehicle can run faster in water.

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 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.

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.

An independent steering apparatus includes a wheel of a vehicle, a knuckle integrally fixed to the wheel, a steering driving part configured to generate steering driving force, a deceleration part connected to an output shaft of the steering driving part and configured to transmit the steering driving force, and a deceleration part housing having the deceleration part located therein. In particular, the steering driving part is integrally fixed to the deceleration part housing, and the deceleration part housing is integrally fixed to the knuckle. The steering driving force generated by the steering driving part is transmitted to the deceleration part housing through the deceleration part, thereby rotating the knuckle.

The invention provides a trajectory tracking method, device and equipment based on steer-by-wire fault tolerance and a medium wherein the trajectory tracking method based on steer-by-wire fault tolerance comprises: when a steering execution motor has a fault, determining expected control parameters for vehicle trajectory tracking, the expected control parameters comprising an expected steering wheel steering angle and an expected differential yaw moment; reducing the expected steering angle of the steering wheel and increasing the expected differential yawing moment; determining a front axle differential steering torque and an output torque of a steering execution motor based on the expected steering wheel steering angle; and trajectory tracking is carried out based on the front axle differential steering torque, the expected differential yawing torque and the output torque of the steering execution motor. When the steering-by-wire system breaks down, the front axle differential steering torque can be used for assisting the fault steering-by-wire system in stably tracking the expected steering wheel steering angle, and then the requirement of vehicle trajectory tracking for steering is met. Meanwhile, the stability of vehicle trajectory tracking can be improved.

Technical solutions described herein include a method of controlling an electric power steering system includes determining that one or more hand wheel torque sensors of electric power steering system are not operational and in response generating an assist torque command by estimating a front slip angle based on a motor angle of a motor of the electric power steering system and a vehicle speed. The method also includes converting the front slip angle to a rack force. The method also includes determining an amount of assist torque based on the rack force and controlling the electric power steering system using the generated assist torque command.

The invention discloses an electric power steering fault diagnosis and self-adaption system based on torque offset, which relates to the technical field of fault diagnosis and comprises a data acquisition unit, a model establishment unit, a torque offset evaluation unit, a fault judgment unit and a power output adjustment unit. According to the method, the return-to-power torque model is constructed based on the vehicle dynamics law and experience adjustment, the model parameters are optimized to obtain the return-to-power torque model, meanwhile, the real-time output torque of the EPS system is calculated according to the steering wheel torque signal, the deviation coefficient of the EPS system is comprehensively calculated, and the accuracy of the EPS system is improved. The deviation coefficient is evaluated according to a preset fault grading interval, a multi-grade fault judgment mechanism is established according to the change rule of the deviation coefficient, dynamic health evaluation of the EPS system motor performance is achieved, the evaluation serves as the basis of control strategy adjustment, the output assistance value can be dynamically adjusted, return control can be enhanced or a safety mode can be switched, and the reliability of the EPS system motor performance is improved. Therefore, the redundancy control capability and the driving safety are improved.

The present invention relates to an active ride height adjustment mechanism (2) for a vehicle, comprising a main support (5) for fastening the ride height adjustment mechanism (2) to a vehicle body, a height adjustment drive (6) for adjusting the ride height, a suspension arrangement (7), and a height adjustment lever (8) connected to the height adjustment drive (6) and the suspension arrangement (7). A first pivot connection (9) is provided between the height adjustment lever (8) and the suspension arrangement (7), and a second pivot connection (10) is provided between the height adjustment lever (8) and the height adjustment drive (6). The object of the invention is to provide a space-saving and less complex ride height adjustment mechanism.According to the invention, the pivot point of the height adjustment lever (8) is located at a third pivot joint (11) between the height adjustment lever (8) and the main support (5), wherein the third pivot joint (11) is arranged along the height adjustment lever (8) between the first pivot joint (9) and the second pivot joint (10). The invention also relates to a corner module (1) and a vehicle with such a ride height adjustment mechanism (2).

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 applicable to the technical field of automobile steering control, and provides a steering return control method for objective steering evaluation, which comprises the following steps of: acquiring vehicle state parameters; judging the membership degrees of the driver to the conservative driving style, the normal driving style and the sports driving style, and calculating the values of the coefficient influencing the return speed and the coefficient influencing the lateral acceleration; generating a reference return speed; a reference return speed # imgabs0 # is used as a tracking target, and a smooth return torque is generated through MPC. According to the method, design is conducted with the objective evaluation phenomenon as the guide, a large number of real vehicle site tests do not need to be conducted in the later development stage to calibrate relevant parameters, the method faces objective evaluation and personalized driving experience, a driver decides the emphasis of objective evaluation, and therefore personalized objective evaluation-oriented automobile steering return control is achieved.

A system including a computer having a processor and a memory. The memory includes instructions executable by the processor to, upon actuating movement of a steering element of a vehicle, measure a torque applied to the steering element in a direction opposite the actuated movement. In response to a determination that the torque is less than a predetermined threshold, the processor actuates a component of the vehicle.

A system for collaborative steering in steer-by-wire (SBW) vehicles includes sensors, a rack motor altering a position of the vehicle's steerable road wheels and an emulator altering a torque and position of a vehicle hand wheel. A collaborative steering system application (CSSA) obtains, static and dynamic information about the vehicle and the vehicle's environment, and generates a rack torque and / or angle command to the rack motor and an emulator torque and / or angle command to the emulator. The CSSA adjusts between ADAS and manual steering ratios and automatically transitions control between ADAS SBW control and manual control. The CSSA smooths transitions between ADAS SBW control and manual steering control and adjusts hand wheel stiffness by altering the emulator torque command, and causes the rack motor and emulator to operate according to a kinematic model while adapting road wheel response and vehicle operator steering feel based on scenarios and features currently enabled.

A vehicle control device of an embodiment includes a recognizer configured to recognize a surrounding situation of a host vehicle, a driving state detector configured to detect a driving state of an occupant of the host vehicle, and a controller configured to execute steering control of moving the host vehicle to a center of a traveling lane when determination is made that an obstacle is present in front of the host vehicle, based on the surrounding situation, and stop the steering control of moving the host vehicle to the center of the traveling lane when a steering amount of the occupant detected by the driving state detector is equal to or greater than a threshold, in which the controller changes the threshold according to whether a steering direction of the occupant is a forward direction or a backward direction with respect to steering by the steering control.

The invention relates to a vehicle braking system, a vehicle chassis system, a vehicle and a vehicle braking method.The vehicle braking system comprises a steering device used for achieving steering of wheels; the control device is used for controlling the steering device so that the steering device at least has a braking steering mode and a parking steering mode; wherein when the steering device is in the brake steering mode, the steering angle of at least one wheel exceeds the target steering angle of the wheel; when the steering device is in the parking steering mode, the steering angle of at least one wheel is a preset parking steering angle. The vehicle braking system, the vehicle chassis system, the vehicle and the vehicle braking method have the beneficial effects that the vehicle braking system, the vehicle chassis system, the vehicle and the vehicle braking method which can adapt to various states of the vehicle to obtain adaptive braking force are provided.

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 conflict control method for shared driving, and an electronic device are provided. The method includes: establishing, based on a deterministic steering torque of a driver and a stochastic steering torque of the driver, a game model for human-machine path tracking control corresponding to a human-machine interaction behavior; obtaining human-machine torque conflict information by solving the game model for human-machine path tracking control; determining a shared control strategy according to the human-machine torque conflict information; and controlling a shared driving vehicle according to the shared control strategy.

The invention provides a vision-based vehicle steering state judgment method and system. The method comprises the following steps: acquiring multi-dimensional features of a road environment and constructing a dynamic road environment model; performing feature extraction on the road geometric features and the dynamic environment state by adopting a multi-scale convolutional neural network; constructing a path prediction model according to the final road environment feature representation to obtain a predicted path; the adaptability between the road environment and the path is analyzed, and whether adjustment of the expected steering angle is triggered or not is judged; the final corrected steering angle is transmitted to a vehicle control system for actual operation, and it is ensured that the vehicle runs according to the optimal path. The self-adaptive steering state judgment method provided by the invention can fully consider complex road environments and dynamic change factors, not only improves the judgment accuracy, but also enhances the robustness of the system.