Steering controlling method of automatic steering device of unmanned vehicle

An unmanned vehicle and automatic steering technology, which is applied in the direction of electric steering mechanism, power steering mechanism, steering mechanism, etc., can solve the problems of complex control and limit system, manual and automatic mode cannot be switched quickly, etc., to achieve convenient transmission and output effect

Active Publication Date: 2017-06-20
BIT INTELLIGENT VEHICLE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] The purpose of the present invention is to provide a steering control method for an automatic steering device of an unmanned vehic

Method used

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  • Steering controlling method of automatic steering device of unmanned vehicle
  • Steering controlling method of automatic steering device of unmanned vehicle
  • Steering controlling method of automatic steering device of unmanned vehicle

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Embodiment Construction

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0050] The present invention provides an automatic steering control method based on the automatic steering device of the unmanned vehicle, such as figure 1 shown, including the following steps:

[0051] S301: Calibrate the absolute zero position.

[0052] S302: The steering controller checks whether the current automatic driving enable flag is 1, and if so, enters the automatic driving mode, otherwise enters the manual driving mode. If the current state of the system is the manual driving mode, the steering controller controls the relay to become disconnected through the I / O interface, cuts off the power supply of the electromagnetic clutch (108), and the driving end of the electromagnetic clutch (108) is disconnected from the driven end. Execute step S302 again; if the current state of the system is the automatic driving mode, the ...

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Abstract

The invention provides a steering controlling method of an automatic steering device of an unmanned vehicle. The steering controlling method comprises the following steps that an absolute zero position is demarcated; a steering controller controls the unmanned vehicle to enter an automatic driving mode; the steering controller amends an expected steering angle of an output shaft of a motor (111); the steering controller obtains an actual steering angle of the output shaft of the current motor (111) through an encoder (115); and the steering controller controls an algebraic difference value of the expected steering angle and the actual steering angle, and steering is achieved. The controlling steps are simple; switching between manual driving and automatic driving can be completed; software is adopted to conduct limiting; setting is relatively flexible; the phenomenon of overlarge steering of a steering wheel can be effectively prevented; and precise steering is achieved.

Description

technical field [0001] The invention relates to the field of steering of unmanned vehicles, in particular to a steering control method of an automatic steering device of an unmanned vehicle. Background technique [0002] Unmanned vehicles are one of the important development directions of the automotive industry in the future, and have attracted much attention in the field of vehicle technology in recent years. Unmanned vehicles integrate visual perception, artificial intelligence, planning control and other multidisciplinary technologies. It not only has important application value in dangerous tasks such as search and rescue, rescue, reconnaissance, etc. It has great practical significance and development potential. At present, many countries in the world are vigorously researching unmanned driving technology, which has greatly promoted the development of unmanned driving technology. [0003] The automatic steering device is a very important part of an unmanned vehicle. ...

Claims

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Application Information

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IPC IPC(8): B60W30/18B60W30/182B62D5/04
CPCB60W30/18145B60W30/182B60W2710/20B62D5/0463
Inventor 陈慧岩王威熊光明龚建伟
Owner BIT INTELLIGENT VEHICLE TECH CO LTD
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