Motor steering device of active steering system and corner power-assisted torque estimation method

Abstract

The invention relates to the technical field of unmanned steering control. The invention further discloses a motor steering device of the active steering system and a steering angle power-assisted torque estimation method. The device comprises a steering wheel, a steering column with an intermediate shaft, a torque and corner sensor, a speed reducing mechanism, an electronic control unit ECU, a motor and a motor position sensor, the steering wheel is fixedly connected to the top of the steering column with the intermediate shaft; the torque and rotation angle sensor and the speed reducing mechanism are both arranged on the steering column belt middle shaft, the steering gear is arranged at the bottom of the steering column belt middle shaft, and the pinion shaft is arranged in the steeringgear and movably connected to the bottom of the steering column belt middle shaft. According to the torque redundancy design method for the active steering system based on the motor rotation angle, by arranging the motor position sensor, the ECU and the speed reducing mechanism, steering of a vehicle can be effectively controlled, and redundancy backup of faults of the torque sensor can be achieved under the condition that physical hardware of an existing system is not changed.

Description

technical field [0001] The invention relates to the field of steering control of unmanned driving technology, in particular to a method for an active steering system to estimate a power assist torque demand based on a motor rotation angle. Background technique [0002] In the steering control system, the torque sensor signal is a key signal, only the correct torque sensor signal input can make the system provide the correct power output. From a safety point of view, when the torque sensor fails, the steering control system will cut off the power output, which is convenient for the vehicle operator to control the vehicle. However, this method cannot be used for unmanned vehicles with high safety requirements. As an important input signal of the system, once a failure occurs, the entire system will no longer provide power assistance, which will greatly affect driving safety. At present, the mainstream technology is to rely on the redundancy of the torque sensor hardware to re...

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Problems solved by technology

[0003] Most of the existing methods are to physically increase the number of channels of the torque sensor to make its hardware redundant. This structure can realize the operation of the active steering control system with faults, but it will undoubtedly increase the size of the sensor, which is not convenient for installation and matching in real vehicles and costs more. high

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