2results about How to "Guaranteed steering performance" patented technology

The invention discloses a drive-by-wire system with redundancy safety, which is applied to engineering machinery and is characterized by comprising a redundancy steering module, a redundancy braking module and a control module, the redundant steering module is used for limiting the number of turns of a steering wheel of the vehicle through a limiting unit and carrying out simulation feedback on road feel by arranging a resistance feedback unit; and the redundant braking module is used for carrying out three-in-one combined braking of electric braking, hydraulic service braking and parking braking on a braking system of the vehicle. The device is compact in structure, safe, reliable and convenient to control, steering limiting and motor resistance torque increasing are adopted, and the steering performance of the drive-by-wire chassis can be guaranteed; meanwhile, a redundant design of an angle sensor and a displacement sensor of the steering oil cylinder is adopted, so that the steering safety is ensured; the safety redundancy design of service braking, parking braking and electric braking is adopted, and the safety of service braking and parking braking is guaranteed; and the driving safety of the drive-by-wire chassis is ensured.

The application relates to the technical field of automobile control, in particular to a safety control method, system and device for automatic steering of an unmanned vehicle, wherein, in the safety control method, in the case that an actuator attack occurs in the automatic steering control process of the unmanned vehicle, it is assumed that the actuator attack signal has no specific assumption rule, the accurate actual attack signal is obtained after nonlinear mapping and weighted summation processing in a neural network method, the actual control signal input under the actuator attack is constructed based on the actual attack signal, then the integral sliding mode strategy is used to design a sliding mode reaching law, the sliding mode controller signal is constructed in combination with the actual attack signal, and the sliding mode controller safety signal range is obtained in combination with the derivative of the designed Lyapunov function, so that the unmanned vehicle can be automatically and safely steered under the actuator attack, and the safety control of the automatic steering of the unmanned vehicle is realized.