Steering device of intelligent vehicle and control method thereof

Abstract

The invention discloses a steering device of an intelligent unmanned vehicle and a control method. The steering device comprises a worm and gear reducer motor, a support, an encoder, a synchronous belt wheel transmission mechanism, an electromagnetic clutch, a non-contact type zero detection mechanism and a limiting device, wherein the worm and gear reducer motor serves as a steering drive mechanism; the support is used for fixing the worm and gear reducer motor to a front vehicle frame of the vehicle and keeping an output shaft of the worm and gear reducer motor parallel to a steering gear input shaft; the encoder is connected with the output shaft at the rear end of the worm and gear reducer motor; the synchronous pulley transmission mechanism comprises a driving pulley and a driven pulley; the driving pulley is fixedly connected to the output shaft of the worm and gear reducer motor; the driving end of the electromagnetic clutch is fixedly connected with the driven pulley, and the driven end of the electromagnetic clutch is fixedly connected with the steering gear input shaft. The steering device can control automatic steering of the intelligent unmanned vehicle, automatic steering and manual steering are executed synchronously during work, and the automatic steering mode and the manual steering mode can be freely switched and do not affect each other.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicles, in particular to a steering device of an intelligent vehicle and a control method thereof. Background technique [0002] In recent years, the rapid development of Internet technology has brought revolutionary changes to the automobile industry. At the same time, automotive intelligence technology is gradually being widely used. This technology makes the operation of the car easier and the driving safety is better. The most typical and popular future application is driverless cars. The driving car has traveled more than 800,000 kilometers, and zero accidents have been achieved. In Europe, Germany has issued licenses to BMW and Spain has allowed driverless cars on the road. Volvo has been working on driverless technology in order to manufacture the safest driverless car. Nissan plans to launch a commercial version of driverless cars in 2020. General Motors, Toyota and Continental als...

AI Technical Summary

Problems solved by technology

However, at present, there is not a complete system structure and a perfect control method for the steering control device of intelligent vehicles.

[0004] Searching the prior art literature found that Chinese patent application number 201010104800.X, publication date: July 27, 2011, name: a steering device and control method for unmanned vehicles, the invention uses a motor connected with an encoder , the intermeshing worm gear acts as a reducer, the worm is directly connected to the output shaft of the motor, and an electromagnetic clutch, in which the worm gear is firmly connected to the driving end of the electromagnetic clutch, and the passive end of the electromagnetic clutch is firmly connected to the steering column tube. This patent can realize The automatic steering of intelligent vehicles, but the installation of the worm reducer in this scheme is prone to errors and reduces the transmission efficiency and accuracy, and the original steering mechanism is still modified, which does not have to avoid the error of the universal joint

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