Automatic driving vehicle steering system and automatic driving vehicle

Abstract

The present invention relates to an automatic driving vehicle steering system, comprising: a steering shaft, a steering wheel, and an adjusting device for switching the steering wheel between a state connected to and separated from the steering shaft; the adjusting device comprises: a connecting member, which detachably and rotatably configures the steering wheel on the steering shaft; a follower, which is configured on the connecting member or the steering wheel and moves synchronously with the steering wheel; the follower can switch between a first position and a second position when the steering wheel is switched between a state connected to and separated from the steering shaft; a limiting structure, comprising a limiting member, the limiting member having a limiting space and a first guide channel; the limiting space is used to accommodate at least part of the follower; the first guide channel predetermines a limited position for at least part of the follower along the circumferential direction, so that at least part of the follower can be separated from and enter the limited space. The present invention further provides an automatic driving vehicle including the above-mentioned steering system.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic driving steering systems, and in particular to an automatic driving vehicle steering system and an automatic driving vehicle including the steering system. Background Art

[0002] In the automotive field, the steering of a vehicle is usually controlled by using a steering wheel to control the steering of the steering shaft. With the advancement of sensors, electronic devices, computers and their systems, vehicles can use an automatic driving system to control the steering of the steering shaft instead of manually operating the steering wheel. In the actual use of the automatic driving system, switching is performed between the two modes of manually operating the steering wheel and automatic driving. If the steering wheel is manually misoperated during the automatic driving process, the direction of rotation of the steering shaft will be incorrect due to intervention. The prior art proposes a method of connecting the operating steering shaft to the steering wheel or separating the operating steering shaft from the steering wheel during automatic driving, so that the steering wheel and the steering shaft can switch between a connected and separated state.

[0003] The existing mechanism for switching the steering wheel and the steering shaft between the connected and separated states relies on an automatic control method, and when a failure occurs, manual intervention cannot be performed quickly. Based on this problem, the inventor proposed this application. Summary of the invention

[0004] The present invention provides a steering system for an autonomous driving vehicle, which can realize rapid connection or separation of a steering wheel with a steering shaft by manually controlling the steering wheel, thereby solving the technical problem of rapid manual intervention in the steering of the steering shaft during autonomous driving.

[0005] Specifically, the present invention provides an automatic driving vehicle steering system, comprising: a steering shaft, a steering wheel, and an adjustment device for switching the steering wheel between a state connected to and separated from the steering shaft; the adjustment device comprises: a connecting member, which detachably and rotatably configures the steering wheel on the steering shaft; a follower, which is configured on the connecting member or the steering wheel and moves synchronously with the steering wheel; the follower can switch between a first position and a second position when the steering wheel is switched between a state connected to and separated from the steering shaft; a limiting structure, comprising a limiting member, the limiting member having a limiting space and a first guide channel; the limiting space is used to accommodate at least part of the follower, so as to limit the follower from automatically resetting from the second position to the first position when the steering wheel is separated from the steering shaft; the first guide channel predetermines a limited position for at least part of the follower along the circumferential direction, so that at least part of the follower can be separated from and enter the limited space.

[0006] Preferably, the first guide channel predetermines a unique third position for at least part of the follower along the circumferential direction, so that the follower enters or leaves the first guide channel at the third position.

[0007] Preferably, the first guide channel includes a first extension section arranged axially and a second extension section arranged circumferentially and axially located on the upper side of the first extension section; the restricted space is axially located on the lower side of the second extension section, and the second extension section connects the first extension section and the restricted space; the steering wheel is connected to and separated from the steering shaft by moving axially upward and downward relative to the steering shaft.

[0008] Preferably, the steering shaft is sleeved with a sleeve for limiting the steering axis, the steering shaft is sleeved with a sleeve for limiting the position of the steering axis, and the limiting structure includes a supporting member that supports the limiting member on the sleeve.

[0009] Preferably, the limiting member includes a second guide channel for limiting the axis of the connecting member to be substantially in the same linear direction as the axis of the steering shaft.

[0010] Preferably, the sleeve is sleeved on the steering shaft via a bearing, and the sleeve is fixed on the vehicle frame.

[0011] Preferably, the outer periphery of the steering shaft is provided with a first spline, and the connecting member is provided with a second spline which is connected to and separated from the first spline correspondingly when the driven member is in the first position and the second position.

[0012] Preferably, a stopper is disposed at the end of the steering shaft adjacent to the first spline and is engaged with the upper end edge of the second spline after the steering wheel moves axially upward for a preset stroke.

[0013] Preferably, the limit member includes a set of fixing parts arranged on the outer periphery of the end portion, and the second spline is sleeved on the outer periphery of the fixing part and is clearance-matched with the fixing part when the steering wheel is separated from the steering shaft.

[0014] The present application further provides an autonomous driving vehicle, which includes a vehicle body and any steering system as described above configured on the vehicle body, wherein the restriction structure is fixedly supported on the vehicle body.

[0015] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0016] 1. The present invention provides an automatic driving vehicle steering system, which includes a steering shaft and a steering wheel, and an adjustment device between the steering shaft and the steering wheel, the adjustment device includes a connecting member arranged on the steering wheel, a follower connected to the steering wheel or the steering shaft and capable of synchronously moving with the steering wheel, and a limiting structure having a limiting member, the limiting member including a first guide channel and a limiting space. The steering wheel can be operatively rotated in the circumferential direction or moved in the axial direction, and drives the follower to move along the first guide channel so that at least part of the follower is separated from and enters the limiting space, so that the steering wheel changes its position in the axial direction, thereby achieving the switching between the connected and separated states between the steering wheel and the steering shaft. Wherein, the steering wheel and the steering shaft are splined.

[0017] 2. The present invention provides an automatic driving vehicle steering system, wherein the limiting member defines a unique moving path for the follower, so that the follower can move axially from a unique third position in the circumferential direction, so that the driver only needs to turn the steering wheel to a predetermined unique position each time when operating the steering wheel to connect or separate it from the steering shaft, thereby allowing the steering wheel to be connected or separated from the steering shaft both conveniently and quickly.

[0018] 3. The present invention provides an automatic driving vehicle steering system, wherein a sleeve is provided on the outer periphery of the steering shaft, specifically, the sleeve is sleeved on the steering shaft through a bearing. A support member for supporting and fixing a limiting member is fixedly connected to the outer periphery of the sleeve. The limiting member includes a second guide channel for limiting the axis of the connecting member to be basically in the same linear direction as the axis of the steering shaft. A first spline is arranged on the outer periphery of the steering shaft, and a second spline connected to or separated from the first spline is arranged on the connecting member. When the steering wheel rotates circumferentially or moves axially under operation, the axis of the connecting member is in the same linear direction as the axis of the steering shaft under the limitation of the second guide channel, so that when the second spline on the connecting member moves axially relative to the first spline on the steering shaft, there will be no uneven force between the first spline and the second spline due to deflection or radial displacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figures 1 to 3 It is a structural schematic diagram of an automatic driving vehicle steering system of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the adjustment device, the steering wheel and the steering shaft of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the adjustment device of the present invention;

[0022] Figure 6 for Figure 4 Schematic diagram of the structure at P in the middle;

[0023] Figure 7 It is a schematic diagram of the structure of the adjustment device and the steering wheel;

[0024] Figure 8 It is a structural schematic diagram of the steering shaft.

[0025] Figure ID

[0026] 1-steering wheel, 11-connecting member, 111-second spline, 12-limiting member, 121-clamping portion, 122-fixing portion, 2-steering shaft, 21-first spline, 22-first end portion, 3-adjusting device, 31-support member, 4-sleeve, 41-bearing, 5-limiting member, 51-second guide channel, 6-first guide channel, 61-first extension section, 62-second extension section, 63-limiting space, 7-follower. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention.

[0028] Now combined Figures 1 to 8 The structure and function of the solution of this application are described in detail.

[0029] Combination Figures 1 to 3 The present invention provides an automatic driving vehicle steering system, which comprises a steering shaft 2, a steering wheel 1, and an adjustment device 3 for switching the steering wheel 1 between a connection state and a separation state with the steering shaft 2. Figure 1 The steering wheel 1 shown in the figure is specifically a structure of the skeleton of the steering wheel 1, and is not a steering wheel 1 in actual use. Figure 4 , the adjustment device 3 includes a connecting member 11, a follower 7 and a limiting structure. The connecting member 11 detachably and rotatably configures the steering wheel 1 on the steering shaft 2. The follower 7 is configured on the connecting member 11 or the steering wheel 1. In the present embodiment, it is specifically configured on the connecting member 11, and it can move synchronously with the steering wheel 1. Among them, the follower 7 can switch between the first position and the second position when the steering wheel 1 switches between the connected and separated states with the steering shaft 2. The limiting structure includes a limiting member 5, and the limiting member 5 has a limiting space 63 and a first guide channel 6. Combined with Figure 5 The restricted space 63 is used to accommodate at least part of the follower 7 to limit the follower 7 from automatically resetting from the second position to the first position when the steering wheel 1 is separated from the steering shaft 2. The first guide channel 6 predetermines a limited position for at least part of the follower 7 along the circumferential direction to allow at least part of the follower 7 to disengage from and enter the restricted space 63.

[0030] It can be understood that, in the steering system of this embodiment, when the automobile is in automatic driving, the steering wheel 1 and the steering shaft 2 are in a separated state, and the steering shaft 2 can rotate under the operation of the automatic driving system of the automobile, and the steering wheel 1 will not interfere with the self-rotation of the steering shaft 2 even under external interference because the follower 7 is restricted by the restricted space 63. And the steering wheel 1 can be quickly separated from the restriction of the restriction member 5 from the first guide channel 6 and connected to the steering shaft 2 to achieve rapid intervention in the steering of the steering shaft 2, wherein the restricted space 63 can prevent misoperation.

[0031] Combination Figure 5 , the first guide channel 6 includes a first extension section 61 arranged in the axial direction, a second extension section 62 arranged in the circumferential direction and axially located on the upper side of the first extension section 61, and a limiting space 63. The limiting space 63 is axially located on the lower side of the second extension section 62, and the second extension section 62 connects the first extension section 61 and the limiting space 63. The steering wheel 1 is connected to and separated from the steering shaft 2 by moving upward and downward in the axial direction relative to the steering shaft 2. Among them, the first extension section 61, the second extension section 62 and the limiting space 63 penetrate the inner and outer walls of the limiting member 5 in the radial direction, so that the follower 7 can move along the extension path of the first extension section 61, the second extension section 62 and the limiting space 63. In this embodiment, the first guide channel 6 predetermines a unique third position for at least part of the follower 7 in the circumferential direction, so that the follower 7 enters or leaves the first guide channel 6 at the third position. For example, when the steering wheel 1 is operated and rotated to the middle position, at least part of the follower 7 is axially located at the lower side or at the upper end of the first extension section 61. In this case, the steering wheel 1 can be operated to move axially upward and enter the first extension section 61 and further enter the restricted space 63 through the second extension section 62 or move downward along the first extension section 61 to break away from the connection relationship with the restriction member 5. At this time, the third position where the steering wheel 1 is connected or separated from the restriction member 5 is unique and certain for the operator (driver), which is convenient for the operator to operate the steering wheel 1 to quickly connect or separate the steering shaft 2.

[0032] Specifically, in this embodiment, combined with Figure 5 and Figure 7The limiting member 5 has two first guide channels 6 along the circumferential direction, and the two first guide channels 6 are arranged at 180 degrees, so that the follower 7 can support the entire steering wheel 1 in a balanced manner when in the limiting space 63, so as to prevent the steering wheel 1 from tilting due to uneven supporting force.

[0033] It is understandable that in other embodiments, the first guide channel 6 is not limited to a single third position for axially predetermining a limited position for at least part of the follower 7, but may be a plurality of guide channels arranged circumferentially and having a plurality of structures consistent with the first guide channel 6.

[0034] Combination Figure 4 , a sleeve 4 for limiting the position of the steering axis is sleeved on the outer periphery of the steering shaft 2, and the limiting structure includes a support member 31 supporting the limiting member 5 on the sleeve 4. The sleeve 4 is axially located at the lower side of the limiting member 12. The limiting member 12 includes a second guide channel 51 extending in the axial direction, and the connecting member 11 disposed on the steering wheel 1 passes through the second guide channel 51 in the axial direction, and the outer peripheral wall of the connecting member 11 is slidably matched with the inner side wall of the second guide channel 51, so that the second guide channel 51 limits the axis of the connecting member 11 to be basically in the same linear line with the axis of the steering shaft 2, and makes the axis of the connecting member 11 basically parallel to the axis of the steering shaft 2 when the connecting member 11 moves in the axial direction.

[0035] In this embodiment, combined with Figure 4 The sleeve 4 is sleeved on the steering shaft 2 through a bearing 41, and the sleeve 4 is fixed on the vehicle frame. The sleeve 4 is fixedly connected to the vehicle frame through a plate reinforcement, and the end of the sleeve 4 away from the limiting member 5 is supported on the steering housing inside the vehicle. Figure 6 , Figure 7 and Figure 8 A first spline 21 is arranged on the outer periphery of the steering shaft 2, a connecting hole for the steering shaft 2 to pass through is opened on the connecting member 11, and a second spline 111 is arranged on the inner peripheral wall of the connecting hole along the circumferential direction. The second spline 111 on the connecting member 11 is connected to the first spline 21 on the steering shaft 2 when the follower 7 is in the first position, and the second spline 111 is separated from the first spline 21 on the steering shaft 2 when the follower 7 is in the second position.

[0036] Combination Figure 7 and Figure 8, the axial length of the second spline 111 is shorter than the axial length of the first spline 21, so that when the steering wheel 1 moves upward in the axial direction relative to the steering shaft 2, the shorter the axial length of the second spline 111 is relative to the axial length of the first spline 21, the smaller the distance the connecting member 11 moves in the axial direction can be, and the connection and separation of the connecting member 11 and the steering shaft 2 can be achieved. The limiting member 5 can be connected and separated from the steering shaft 2 with a smaller thickness. Therefore, when the axial length of the second spline 111 is shorter than the axial length of the first spline 21, the distance between the first position and the second position can be designed to be smaller. At the same time, when the axial length of the first spline 21 is longer than the axial length of the second spline 111, a larger stroke of the first spline 21 can be provided to allow it to move in the axial direction, and the first spline 21 can be completely connected to the second spline 111 so that the force of the first spline 21 can be evenly transmitted to the second spline 111. Specifically, combined with Figure 7 The connecting member 11 has an inner hole provided with a second spline 111, the second spline 111 is located at the upper end of the inner hole, and the lower end of the inner hole is clearance-matched with the maximum outer diameter of the first spline 21. That is, the outer diameter of the lower end of the inner hole is greater than the maximum outer diameter of the first spline 21, and a limiting section with an outer diameter smaller than the lower end of the inner hole is provided between the first spline 21 and the bearing 41 along the axial direction, and the outer diameter of the limiting section is greater than the minimum inner diameter of the second spline 111, so as to support the steering wheel 1 when the steering shaft 2 and the steering wheel 1 are in a connected state.

[0037] A first end portion 22 of the steering shaft 2 adjacent to the first spline 21 is provided with a stopper 12 which is clamped to the upper edge of the second spline 111 after the steering wheel 1 moves axially upward for a preset stroke. The stopper 12 is fixedly connected to the first end portion 22 of the steering shaft 2 by a threaded connection, and the stopper 12 includes a clamping portion 121 and a fixing portion 122. The lower end surface of the clamping portion 121 is used to limit the steering wheel 1 from being separated from the steering shaft 2 when the steering wheel 1 moves axially upward. The fixing portion 122 is sleeved on the outer periphery of the first end portion 22 of the steering shaft 2, and a thread is provided on its inner periphery. The second spline 111 is sleeved on the outer periphery of the fixing portion 122 when the steering wheel 1 is separated from the steering shaft 2, and is clearance-matched with the fixing portion 122, that is, the outer diameter of the fixing portion 122 is not greater than the maximum outer diameter of the second spline 111.

[0038] The present application further provides an autonomous driving vehicle (not shown), which includes a vehicle body (not shown) and the aforementioned autonomous driving vehicle steering system. The aforementioned autonomous driving vehicle steering system is fixed and supported on the vehicle body by a plate rib member fixed to the outer periphery of the sleeve 4 and fixedly connected to the support member 31. The splines or gear teeth (gear teeth on the gear) arranged on the outer periphery or inner periphery of the second end of the steering shaft 2 away from the first end (the steering shaft 2 may be a hollow structure along the axial direction) are connected to a steering device (not shown) arranged on the vehicle body. When the steering shaft 2 of the present application is in a separated state from the steering wheel 1, the steering shaft 2 can remain in an idling state when the autonomous driving vehicle is in an autonomous driving state.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic driving vehicle steering system, comprising: a steering shaft, a steering wheel (1), and an adjustment device (3) for switching the steering wheel (1) between a connected state and a separated state with the steering shaft (2); characterized in that: The adjusting device (3) comprises: A connecting member (11) is provided to detachably and rotatably dispose the steering wheel (1) on the steering shaft (2); a follower (7) disposed on the connecting member (11) or the steering wheel (1) and moving synchronously with the steering wheel (1); the follower (7) can switch between a first position and a second position when the steering wheel (1) switches between a connected state and a separated state with the steering shaft (2); A limiting structure comprises a limiting member (5), wherein the limiting member (5) has a limiting space (63) and a first guide channel (6); the limiting space (63) is used to accommodate at least part of a driven member (7) so as to limit the driven member (7) from automatically returning to the first position from the second position when the steering wheel (1) is separated from the steering shaft (2); the first guide channel (6) predetermines a limited position for at least part of the driven member (7) along the circumferential direction so as to allow the at least part of the driven member (7) to escape from and enter the limiting space (63); the first guide channel (6) comprises a first extension section (61) arranged along the axial direction and a first extension section (61) arranged along the circumferential direction and located at the first extension section (61) along the axial direction. A second extension section (62) is disposed on the upper side of an extension section (61); the restricted space (63) is axially located on the lower side of the second extension section (62), and the second extension section (62) is connected to the first extension section (61) and the restricted space (63); the steering wheel (1) is connected to and separated from the steering shaft (2) by moving upward and downward in the axial direction relative to the steering shaft (2); the outer periphery of the steering shaft (2) is provided with a first spline (21), and the connecting member (11) is provided with a second spline (111) which is connected to and separated from the first spline (21) when the follower (7) is in the first position and the second position.

2. The automatic driving vehicle steering system according to claim 1, characterized in that: The first guide channel (6) predetermines a unique third position for at least part of the follower (7) along the circumferential direction, so that the follower (7) enters or leaves the first guide channel (6) at the third position.

3. The automatic driving vehicle steering system according to claim 1, characterized in that: The outer periphery of the steering shaft (2) is sleeved with a sleeve (4) for limiting the position of its steering axis, and the limiting structure comprises a supporting member (31) for supporting the limiting member (5) on the sleeve (4).

4. The automatic driving vehicle steering system according to claim 3, characterized in that: The limiting member (5) comprises a second guide channel (51) for limiting the axis of the connecting member (11) to be substantially on the same line as the axis of the steering shaft (2).

5. The automatic driving vehicle steering system according to claim 3, characterized in that: The sleeve (4) is sleeved on the steering shaft (2) via a bearing (41).

6. The automatic driving vehicle steering system according to claim 1, characterized in that: A stopper (12) is disposed at the end of the steering shaft (2) adjacent to the first spline (21) and is engaged with the upper end edge of the second spline (111) after the steering wheel (1) moves axially upward for a preset stroke.

7. The automatic driving vehicle steering system according to claim 6, characterized in that: The position-limiting member (12) comprises a fixing portion (122) sleeved on the outer periphery of an end portion, and the second spline (111) is sleeved on the outer periphery of the fixing portion (122) and is clearance-matched therewith when the steering wheel (1) and the steering shaft (2) are separated.

8. An automatic driving vehicle, characterized in that: The invention comprises a vehicle body and a steering system as claimed in any one of claims 1 to 7 arranged on the vehicle body, wherein the limiting structure is fixedly supported on the vehicle body.

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