Dual-source intelligent steering system and steering cooperative control method for electric bus

Abstract

The invention discloses a dual-source intelligent steering system for an electric passenger car, 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 connected, a high-voltage power battery pack A phase-connected, open-winding permanent magnet synchronous motor, a reducer, a torque sensor, a steering tie rod, a steering tie rod, a ball screw and a steering transmission mechanism, and each steering transmission mechanism is respectively connected to a steering wheel. The invention also discloses a steering cooperative control method, including a vertical and horizontal cooperative self-evaluation optimization decision-making method and a high-low dual-source master-slave cooperative control method under multiple performance objectives. The invention provides a basis for realizing L4 level automatic driving, which can not only meet the high power demand of electric passenger cars when turning, but also use high and low voltage dual power sources to work together to reduce power consumption when turning, save energy, and have higher reliability and will not Make the electric passenger car turn to the accident because of single power source failure.

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...

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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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