Electric motor coach double-source intelligent steering system and steering cooperative control method

Abstract

The invention discloses an electric motor coach double-source intelligent steering system which comprises an environment sensing unit, an upper-layer controller, a lower-layer controller, a first inverter, a second inverter, a 48-volt low-voltage storage battery, a high-voltage power battery pack, an open winding permanent magnet synchronous motor, a speed reducer, a torque sensor, a steering tierod, a steering tie rod, a ball screw and a steering transmission mechanism, each steering transmission mechanism is connected with one steering wheel. The invention further discloses a steering cooperative control method which comprises a longitudinal and transverse cooperative self-evaluation optimization decision method and a high-low double-source master-slave cooperative control method undermultiple performance targets. A basis is provided for achieving L4-level automatic driving, the high-power requirement during steering of the electric motor coach can be met, power consumption duringsteering is reduced through cooperative work of the high-voltage power source and the low-voltage power source, energy is saved, reliability is higher, and steering accidents caused by faults of a single power source of the electric motor coach are avoided.

Description

technical field [0001] The invention belongs to the technical field of vehicle intelligent steering, and specifically relates to a novel intelligent steering system driven by a double-inverter open-winding permanent magnet synchronous motor driven by a high-voltage power battery and a 48V low-voltage storage battery and a cooperative control method thereof. Background technique [0002] Autonomous driving is the future development direction of the automotive industry. The American Society of Automotive Engineers has graded autonomous vehicles, ranging from 1 to 5 levels, with level 5 being the highest level and requiring no human driver to perform any operations. At present, the level 4 (L4) is being vigorously promoted in China, which is unmanned driving in limited roads and environments. [0003] Electric drive intelligent steering is the core key technology to realize L4 automatic driving of electric buses. The main problems currently existing are as follows: [0004] F...

AI Technical Summary

Problems solved by technology

[0004] For the current power supply system of electric buses with high-voltage power batteries as the main part and low-voltage 24V batteries as the supplementary power supply, the pure 24V power supply cannot meet the power demand of the electric-driven intelligent steering drive motor brought about by the large forward load. The battery supplies power to the intelligent steering motor. Under typical urban working conditions with obvious characteristics of medium and low speeds, the steering motor often works in a high-current operation mode due to the high power demand brought by the large steering resistance of the passenger car, resulting in excessive energy consumption. And the single power supply mode has reliability problems caused by power failure

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