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Redundant electronic steering system and control method of autonomous vehicle

An automatic driving and electronic steering technology, which is applied in the direction of automatic steering control components, electric steering mechanisms, steering mechanisms, etc., can solve problems such as processor redundancy, inability to meet the safety requirements of automatic driving functions, and inability to maintain steering assistance functions, etc., to achieve Faster response, improved safety and reliability effects

Active Publication Date: 2019-05-10
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the system only has redundancy for the processor. If the sensors and / or components of the electric power steering control system or the components of the electric motor fail, the system still cannot maintain the steering assistance function.
In addition, the system is still designed to increase power assistance based on the driver's steering, and it also cannot meet the functional safety requirements for autonomous driving.

Method used

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  • Redundant electronic steering system and control method of autonomous vehicle
  • Redundant electronic steering system and control method of autonomous vehicle
  • Redundant electronic steering system and control method of autonomous vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] like figure 1 and figure 2 As shown, the redundant electronic steering system of the self-driving vehicle according to the present invention includes two electronic power steering units; the two electronic power steering units are used to control the steering of the vehicle.

[0056] Each of the electronic power steering units (ie, EPS) includes a processor 2 , and a rotation angle torque sensor 1 and a motor 3 respectively connected to the processor 2 .

[0057] The rotation angle torque sensor 1 is used to output torque signals and angle signals and send them to a processor 2 connected thereto. Among them, the torque signal output by the corner torque sensor is fed back to the EPS to ensure that the EPS reaches the desired corner.

[0058] The processor 2 is used to obtain the current expected steering wheel angle signal from the vehicle bus.

[0059] The processor 2 is also used to calculate the current total torque value K to be output by the entire system accor...

Embodiment 2

[0091] like image 3 As shown, the redundant electronic steering system of the self-driving vehicle further includes a central controller 4 for calculating the current expected steering wheel angle signal and sending it to the vehicle bus. The central controller 4 (that is, the upper controller) is used for computing and decision-making automatic driving functions on the vehicle.

[0092] Described central controller 4 is connected with two processors 2 through gateway 7, the first automobile bus 6, and central controller 4 sends the current expected steering wheel angle signal that calculates to on the first automobile bus 6 through gateway 7, two Each processor 2 respectively reads the current expected steering wheel angle signal sent by the central controller 4 from the first automobile bus 6 .

[0093] In this embodiment, the power module only includes the main power supply 5, through which the central controller 4, the gateway 7 and the two electronic power steering unit...

Embodiment 3

[0098] like Figure 4 and Figure 5 As shown, the redundant electronic steering system of an autonomous vehicle further includes a safety controller 8 connected to two processors 2 through a second vehicle bus 10 . The control of the electronic power steering unit by the safety controller is the same as the control of the electronic power steering unit by the central controller.

[0099] The purpose of adding the safety controller 8 in this embodiment is to realize the redundancy of the controllers, and the central controller 4 and the safety controller 8 will check each other. When the central controller 4 is in the normal working state, the central controller 4 calculates and sends the current expected steering wheel angle signal; when the central controller 4 fails, the safety controller takes over the central controller; at this time, the central control The current expected steering wheel angle signal sent by the controller 4 will become an invalid signal, and the curre...

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Abstract

The invention discloses a redundant electronic steering system and control method of an autonomous vehicle. Two electronic power steering units are arranged, wherein each electronic power steering unit comprises a processor, a steering angle and torque sensor and a motor, wherein the steering angle and torque sensor and the motor are correspondingly connected with the processor; the steering angleand torque sensor is used for outputting a torque signal and an angle signal; the processor is also used for calculating a current total torque value K, needing to be output, of the whole system according to a current expected steering wheel steering angle signal, a torque signal and an angle signal and calculating a torque value needing to be output by the electronic power steering unit according to a distribution mechanism; and the processor is also used for controlling the motor correspondingly connected with the processor according to the torque value to control the vehicle to realize steering. According to the redundant electronic steering system and control method of the autonomous vehicle, full redundancy of the electronic steering system is realized, and safety requirements of automatic driving can be satisfied.

Description

technical field [0001] The invention belongs to the technical field of automobile electronic steering, and in particular relates to a redundant electronic steering system and a control method of an automatic driving vehicle. Background technique [0002] With the advancement of modern technology and the development of science and technology, people have higher and higher requirements for vehicles. On the basis of satisfying traditional driving, they also need to be able to realize intelligent control of vehicles, such as driverless cars, adaptive cruise, and vehicle active safety. , automatic parking and other functions. Among them, the electric power steering control system, as an important part of intelligent control, is used to intelligently change the driving direction of the car. Its performance will directly affect the steering performance of the car, as well as the stability of the control and the safety of driving. . [0003] The existing electric power steering co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/04B62D6/00B62D113/00B62D119/00
CPCY02T10/72
Inventor 王建强丁可孔周维周增碧梁锋华何举刚
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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