Steering zero marking method for vehicle

Abstract

The invention discloses a vehicle steering zero marking method which is favorable for meeting the zero deviation requirement during vehicle running and improving the working efficiency. A steering zero marking method for a vehicle according to the present invention uses a remote controller having: a direction operation member for issuing a steering command to a control unit; the zero marking operation part is used for sending a zero marking instruction to the control unit and comprises zero marking operation, and the zero marking operation comprises the steps that firstly, in the first step, whether the vehicle runs in a straight line or not is judged, when the vehicle does not run in the straight line, a steering instruction is sent to the control unit through the remote controller, and when the vehicle runs in the straight line, the steering instruction is sent to the control unit through the remote controller; enabling the driving source to drive the wheels to steer so as to enable the vehicle to run in a straight line; and a second step of sending a zero marking instruction to the control unit by using the remote controller in a straight driving state of the vehicle so as to carry out zero marking for updating a zero position on the detection part.

Description

Technical Field

[0001] The invention relates to a steering zeroing method for a vehicle. Background Art

[0002] At present, many vehicles (especially unmanned vehicles, which are also called autonomous driving vehicles) have a driving source for driving the wheels to turn and a control unit for controlling the driving source. The control unit has a detection unit (usually a steering angle sensor) that directly or indirectly detects the steering angle of the wheel based on its own zero position.

[0003] In the above-mentioned vehicle, when performing steering zeroing (calibrating the zero position of the detection unit), static zeroing is usually performed, that is, the steering zero position calibration is performed when the vehicle speed is zero.

[0004] However, even if the static zeroing is accurate, the zero deviation requirement may sometimes not be met when the vehicle is moving.

[0005] To address the above issues, the following operations can be considered: the driver starts the vehicle and controls the steering wheel to make the vehicle move in a straight line. When the vehicle moves in a straight line, the driver holds the steering wheel steady. At the same time, the calibration personnel walks with the vehicle and sends a zeroing command to the vehicle's steering system (such as a wire-controlled steering controller) for zeroing.

[0006] However, no matter which of the above situations is true, the zeroing operation requires at least two people to operate at the same time, which is inefficient. Summary of the invention

[0007] The present invention is completed in view of the above-mentioned problems, and aims to provide a steering zeroing method for a vehicle, which helps to meet the zero position deviation requirement when the vehicle is driving and improves the working efficiency.

[0008] In order to achieve the above-mentioned purpose, the present invention provides a steering zeroing method for a vehicle, wherein the vehicle has a steering system, the steering system has wheels, a driving source for driving the wheels to turn, and a control unit for controlling the driving source, the control unit has a detection unit for detecting the steering angle of the wheels based on its own zero position, wherein a remote controller is used, the remote controller has: a direction operating member, the direction operating member is used to issue a steering instruction to the control unit; and a zeroing operating member, the zeroing operating member is used to issue a zeroing instruction to the control unit, including a zeroing operation, the zeroing operation includes: a first step, in the first step, it is judged whether the vehicle is traveling in a straight line, when the vehicle is not traveling in a straight line, the remote controller is used to issue a steering instruction to the control unit, so that the driving source drives the wheels to turn, so that the vehicle travels in a straight line; and a second step, in the second step, when the vehicle is traveling in a straight line, the remote controller is used to issue a zeroing instruction to the control unit, so as to update the zero position of the detection unit.

[0009] Here, “causing the vehicle to run in a straight line” does not require that the vehicle run in a strictly straight line, but only requires that the vehicle run in a substantially straight line.

[0010] According to the vehicle steering zeroing method of the present invention, steering zeroing is performed while the vehicle is driving in a straight line, thus helping to meet the zero position deviation requirement when the vehicle is driving; on the other hand, the calibration personnel uses a remote controller to send steering instructions and zeroing instructions to the control unit, thus the vehicle steering zeroing operation can be completed by one person, which helps to improve operation efficiency, save operation time, and reduce the use of human resources.

[0011] In addition, in the vehicle steering homing method of the present invention, it is preferred to perform a verification operation after the homing operation. In the verification operation, the vehicle is driven a preset distance while the detection value of the detection unit is set to zero. When the deviation of the vehicle's position relative to the reference position is greater than a preset value, the homing operation is performed again.

[0012] The vehicle steering zeroing method according to the present invention helps to ensure that the zero position calibration of the detection part meets the requirements.

[0013] Furthermore, in the vehicle steering zeroing method of the present invention, preferably in the first step, the vehicle is driven along a zeroing straight line on the ground, and whether the vehicle is driving in a straight line is determined based on the relative position of the vehicle and the zeroing straight line.

[0014] According to the vehicle steering zeroing method of the present invention, the operation of judging whether the vehicle is traveling in a straight line is simple and easy to execute.

[0015] In addition, in the vehicle steering homing method of the present invention, it is preferred that in the verification operation, the vehicle is driven along a verification straight line on the ground for the preset distance while the detection value of the detection unit is set to zero, and when the deviation of the vehicle's position relative to the verification straight line is greater than a preset value, the homing operation is performed again.

[0016] According to the vehicle steering zeroing method of the present invention, the operation of judging whether the zero position calibration of the detection part meets the requirements is simple and easy to execute.

[0017] In addition, in the vehicle steering zeroing method of the present invention, the remote control preferably also has a speed control component, which is used to issue instructions to the control unit to control the speed of the vehicle. In the verification operation, the speed control component is used to make the vehicle travel at a speed greater than the speed in the second step.

[0018] According to the vehicle steering zeroing method of the present invention, in the verification operation, the speed control member is used to make the vehicle travel at a speed greater than the speed in the second step of the zeroing operation, which helps to shorten the operation time.

[0019] In addition, in the vehicle steering zeroing method of the present invention, it is preferred that the remote control also has a switching operating element, and the switching operating element is used to switch the first steering mode and the second steering mode of the direction operating element. In the first steering mode, the steering angle change of the wheel corresponding to the unit movement of the direction operating element is smaller than the steering angle change of the wheel corresponding to the unit movement of the direction control element in the second steering mode. In the second step, the direction operating element is first placed in the second steering mode, and then placed in the first steering mode.

[0020] According to the vehicle steering zeroing method of the present invention, in the second step of the zeroing operation, the direction operating member is first placed in the second steering mode and then placed in the first steering mode, which helps to perform zero position calibration of the detection unit with high precision while shortening the operation time.

[0021] In addition, in the vehicle steering and homing method of the present invention, it is preferred that the remote control also has one or more of a start-stop operating element and a prompt unit, wherein the start-stop operating element is used to issue instructions to the control unit to start or stop the vehicle, and the prompt unit gives prompt information in conjunction with the action of the homing operating element.

[0022] According to the vehicle steering zeroing method of the present invention, with the help of the start-stop operating member, the calibration personnel can control the vehicle's driving more freely when performing the vehicle steering zeroing operation; on the other hand, with the help of the prompt part, it is convenient to confirm whether the zeroing operating member is operated correctly, thereby improving the reliability of the zeroing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 2 is a block diagram schematically showing a vehicle steering zeroing system according to an embodiment of the present invention.

[0024] Figure 2 It is a perspective view schematically showing a partial structure of a vehicle in the vehicle steering zeroing system according to the embodiment of the present invention.

[0025] Figure 3 1 is a block diagram schematically showing a steering device in a vehicle steering zeroing system according to an embodiment of the present invention.

[0026] Figure 4 Detailed description is a flow chart schematically showing a steering homing method of a vehicle steering homing system according to an embodiment of the present invention.

[0027] (Explanation of symbols)

[0028] 1 Vehicle Steering Zero System

[0029] 10 Vehicles

[0030] 11. Wheel

[0031] 12. Drive source

[0032] 121 Steering drive source

[0033] 13 Control unit

[0034] 131 Steering control unit

[0035] 14 Receiver

[0036] 15 Transmission

[0037] 151 Bridge

[0038] 152 Straight pull rod

[0039] 153 Turn to vertical wall

[0040] 16 Steering Wheel

[0041] 17 Column

[0042] 18 Auxiliary devices

[0043] 180 Power boost circuit

[0044] 181 Oil Can

[0045] 182 Electric power steering oil pump

[0046] 19 Radiator

[0047] 20 Remote Control

[0048] SS Steering System

[0049] ECU Steering Controller DETAILED DESCRIPTION

[0050] Next, combine Figures 1 to 4 A vehicle steering homing system according to an embodiment of the present invention and a vehicle steering homing method based on the vehicle steering homing system will be described.

[0051] (Overall structure of vehicle steering zeroing system)

[0052] like Figure 1 As shown, the vehicle steering zeroing system 1 comprises: a vehicle 10 having a steering system SS; and a remote controller 20 for remotely controlling the steering system SS of the vehicle 10 .

[0053] Here, if Figure 2 and Figure 3 As shown, the steering system SS of the vehicle 10 includes: wheels 11; a driving source 12 for driving the wheels 11 to steer; and a control unit 13 for controlling the driving source 12. The control unit 13 includes a detection unit for detecting the steering angle of the wheels 11 based on its own zero position.

[0054] In addition, if Figure 1 As shown, the remote controller 20 is a handheld remote controller that wirelessly communicates with the vehicle 10, and comprises: a direction operating member, which issues a steering instruction to the control unit 13 when operated, so as to drive the driving source 12 by the control unit 13, thereby turning the wheel 11; and a homing operating member, which issues a homing instruction to the control unit 13 when operated, so as to perform a homing operation.

[0055] (Vehicle structure)

[0056] As described above, the vehicle 10 has the steering system SS having the wheels 11 , the drive source 12 , and the control unit 13 .

[0057] Here, if Figure 3As shown, the driving source 12 includes a steering driving source 121 for driving the wheel 11 to steer, and the control unit 13 includes a steering control unit 131 for controlling the steering driving source 121. Specifically, the steering driving source 121 is a motor. The steering control unit 131 includes: a steering angle sensor for detecting the steering angle of the wheel 11 based on its own zero position; and a control circuit for controlling the steering driving source 121 according to the steering angle sensor. Figure 2 and Figure 3 As shown, the steering drive source 121 and the steering control unit 131 constitute the main body of the steering controller ECU (for example, a wire-controlled steering controller) (the steering controller ECU may also include an output component such as a gear mechanism that outputs the steering drive source 121). Although not shown in the figure, the drive source 12 also includes, for example, a speed drive source that controls the rotation speed of the wheel 11, and the control unit 13 also includes a speed control unit that controls the speed drive source.

[0058] In addition, if Figure 1 As shown, the vehicle 10 further includes a receiver 14, and the control unit 13 of the steering system SS communicates with the remote controller 20 via the receiver 14. Specifically, the steering control unit 131 of the steering controller ECU communicates with the receiver 14 via a CAN (controller area network bus) of the vehicle 10. The remote controller 20 communicates with the receiver 14 wirelessly.

[0059] In addition, if Figure 2 As shown, the vehicle 10 also has a transmission device 15, which transmits the driving force of the steering drive source 121 to the wheel 11 to turn the wheel 11. Specifically, the transmission device 15 includes: a bridge portion 151, at both ends of which the wheel 11 is connected; a straight tie rod 152, one end of which is connected to the bridge portion 151; and a steering vertical wall 153, which is connected to the other end of the straight tie rod 152. The steering drive source 121 drives the straight tie rod 152 via the steering vertical wall 153 (in the example shown in the figure, the driving force of the steering drive source 121 is transmitted to the steering vertical wall 153 via the output component to drive the straight tie rod 152), thereby turning the wheel 11 via the bridge portion 151.

[0060] In addition, if Figure 2As shown, the vehicle 10 also has a steering wheel 16 that is linked to the steering controller ECU. Specifically, the steering wheel 16 is linked to the action of the steering drive source 121 of the steering controller ECU via the column 17, thereby driving the wheels 11 of the vehicle 10 to steer. More specifically, the upper end of the column 17 is fixedly connected to the steering wheel 16, and the lower end of the column 17 is cooperatively connected to the output component that outputs the driving force of the steering drive source 121. When the steering wheel 16 rotates, the output component that outputs the driving force of the steering drive source 121 moves accordingly under the drive of the column 17, thereby driving the straight pull rod 152 via the steering vertical wall 153, thereby steering the wheel 11 via the bridge portion 151.

[0061] In addition, if Figure 2 As shown, the vehicle 10 also has an auxiliary device 18 for assisting the rotation of the steering wheel 16. Specifically, the auxiliary device 18 includes a power-assisting circuit 180, which supplies working fluid such as oil to flow, and generates a force to assist the rotation of the steering wheel 16 and the movement of the above-mentioned output components according to the instructions from the control unit 13 of the vehicle 10. An oil pot 181 and an electric power-assisting oil pump 182 are provided in the power-assisting circuit 180. The oil pot 181 is used to store working fluids such as oil. The electric power-assisting oil pump 182 is used to transfer the hydraulic pressure formed by the oil in the oil pot 181 to the above-mentioned output components, thereby driving the output components to move, thereby assisting the rotation of the steering wheel 16.

[0062] In addition, if Figure 2 As shown, the vehicle 10 further includes a radiator 19 . The radiator 19 cools a working fluid such as oil flowing in the boost circuit 180 .

[0063] Although not shown, the vehicle 10 may further include a power source such as a battery for supplying power to the drive source 12 and the control unit 13 .

[0064] (Structure of remote control)

[0065] As described above, the remote controller 20 has a direction operation member and a home operation member.

[0066] Although not shown in the figure, the remote controller 20 further includes an encoder and a transmitter. The encoder encodes (for example, binary code) the operation of each operating element of the remote controller 20. The transmitter transmits the encoded information generated by the encoder to the receiver 14.

[0067] In addition, the direction operating member is operated by the calibration personnel and can be composed of any one of a rod, a button and a touch screen. When the direction operating member is operated, a signal corresponding to the operation is sent to the receiver 14 of the vehicle 10 via the above-mentioned transmitter, and then sent to the steering controller ECU of the vehicle 10, thereby driving the wheel 11 to perform a steering action.

[0068] In addition, the zeroing operation member is operated by the calibration personnel and can be composed of any one of a rod, a button and a touch screen. When the zeroing operation member is operated, a signal corresponding to the operation is sent to the receiver 14 of the vehicle 10 via the above-mentioned transmitter, and then sent to the steering controller ECU of the vehicle 10, thereby the steering controller ECU performs zeroing (for example, the current detection value of the detection unit is set to zero).

[0069] In addition, the remote controller 20 preferably further includes a start / stop operation element, a speed control element, a switching operation element, and a prompting unit.

[0070] The start-stop operating member controls the start and stop of the vehicle 10 by being operated. The start-stop operating member is operated by the calibration personnel and can be composed of any one of a rod, a button and a touch screen. When the start-stop operating member is operated, a signal corresponding to the operation will be sent to the receiver 14 of the vehicle 10 via the above-mentioned transmitter, and then sent to the control unit 13 of the vehicle 10, thereby starting or stopping the vehicle 10.

[0071] The speed control member is operated to issue a command to the control unit 13 to control the speed of the vehicle 10. The speed control member may be composed of any one of a lever, a button, and a touch screen. When the speed control member is operated, a signal corresponding to the operation is sent to the receiver 14 of the vehicle 10 via the transmitter, and then to the control unit 13 of the vehicle 10, thereby accelerating or decelerating the vehicle 10.

[0072] The switching operating member switches the first steering mode and the second steering mode of the direction operating member by being operated. In the first steering mode, the steering angle change of the wheel 11 corresponding to the unit movement of the direction operating member is less than the steering angle change of the wheel 11 corresponding to the unit movement of the direction control member 22 in the second steering mode. The switching operating member can be composed of any one of a rod, a button and a touch screen. When the switching operating member is operated, a signal corresponding to the operation will be sent to the receiver 14 of the vehicle 10 via the above-mentioned transmitter, and then sent to the steering controller ECU of the vehicle 10, thereby causing the vehicle 10 to turn quickly or slowly.

[0073] The prompting part gives prompt information in conjunction with the action of the zeroing operating member. The prompting part can be composed of any one of a buzzer, an indicator light, and a display screen. When the zeroing operating member is successfully operated, the prompting part displays prompt information or emits a sound.

[0074] (Vehicle turning zeroing operation)

[0075] Next, a steering homing method of the vehicle 10 using the vehicle steering homing system 1 will be described.

[0076] like Figure 4As shown, the steering homing method includes a homing operation, in which step S1 and step S2 are performed in sequence.

[0077] In step S1, it is determined whether the vehicle 10 is traveling in a straight line. When the vehicle 10 is not traveling in a straight line, a steering command is issued to the steering controller ECU using the direction operating member of the remote controller 20 so that the vehicle 10 travels in a straight line. Specifically, for example, the vehicle 10 is driven to a marking square or the like where a zeroing line is marked on the ground, and the length direction of the vehicle 10 is roughly aligned with the extending direction of the zeroing line. In this state, the vehicle 10 is driven, and it is determined whether the vehicle 10 is traveling in a straight line based on the positional relationship between the vehicle 10 and the zeroing line.

[0078] In step S2, a zeroing instruction is sent to the steering controller ECU by using the zeroing operating element of the remote controller 20, so that the steering controller ECU performs zeroing.

[0079] (Main Effects of the Present Embodiment)

[0080] According to the present embodiment, the steering zeroing is performed while the vehicle 10 is traveling in a straight line, thus helping to meet the zero deviation requirement of the vehicle 10 while traveling; on the other hand, the calibration personnel uses the remote controller 20 to send steering instructions and zeroing instructions to the control unit 13, thus the steering zeroing operation of the vehicle 10 can be completed by one person, helping to improve operating efficiency, save operating time, and reduce the use of human resources.

[0081] Furthermore, according to the present embodiment, the calibration personnel can use the remote controller 20 to perform the zeroing operation of the steering system SS of the vehicle 10 without following the vehicle 10 , thereby reducing potential safety hazards.

[0082] Furthermore, according to the present embodiment, the remote controller 20 has a prompting section, by means of which it is possible to conveniently confirm whether the homing operating member is correctly operated, thereby improving the reliability of the steering homing operation.

[0083] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned embodiments.

[0084] For example, in the above-mentioned embodiment, the vehicle 10 may be an unmanned (automatic) driving vehicle or a manned driving vehicle. In the case where the vehicle 10 is an unmanned driving vehicle, the steering wheel 16 and the column 17 may be omitted.

[0085] Furthermore, in the above embodiment, in step S1 , whether the vehicle 10 is traveling straight may be determined by visual observation or by detection results of sensors or the like.

[0086] In addition, in the above embodiment, in step S2, the direction operating member of the remote controller 20 is first placed in the second steering mode, and then placed in the first steering mode. This can shorten the operation time and help to accurately calibrate the zero position of the detection unit.

[0087] In addition, in the above-mentioned embodiment, a verification operation may be performed after the zeroing operation. In the verification operation, the vehicle 10 is driven a preset distance while the detection value of the detection unit is set to zero. When the deviation of the position of the vehicle 10 relative to the reference position is greater than the preset value, the zeroing operation is performed again.

[0088] Specifically, for example, when the detection value of the detection unit is set to zero, the vehicle 10 is driven along the verification straight line on the ground for a preset distance. When the deviation of the position of the vehicle 10 relative to the verification straight line is greater than the preset value, the zeroing operation is performed again. More specifically, for example, the vehicle 10 is driven to a calibration square or the like where a verification straight line is marked on the ground, and the width center of the vehicle 10 (for example, the front of the vehicle) is approximately located on the verification straight line, and the length direction of the vehicle 10 is approximately aligned with the extension direction of the verification straight line. In this state, the detection value of the detection unit is set to zero and the vehicle 10 is driven for a preset distance (for example, 100 meters), and then the distance between the width center of the vehicle 10 (for example, the front of the vehicle) and the verification straight line is measured. If the distance is less than the preset value (for example, 2 meters), it is determined that the zeroing operation meets the requirements. Otherwise, it is determined that the zeroing operation does not meet the requirements and the zeroing operation is performed again.

[0089] Furthermore, in the above embodiment, the speed control element of the remote controller 20 may be used to make the vehicle travel at a speed greater than the speed in step S2 during the verification operation. This helps to shorten the operation time.

[0090] Furthermore, in the above-described embodiment, an output member for outputting the driving force of the steering drive source 121 may be provided outside the steering controller ECU.

[0091] In addition, in the above embodiment, the remote controller 20 may also have a homing mode activation member to switch whether to enter the homing operation. Specifically, a homing operation activation function may be set in the switching operation member, and the switching operation member may also serve as the homing mode activation member. In this case, a prompting unit that provides prompt information in conjunction with the action of the homing mode activation member may also be provided, and the prompting unit may be composed of any one of a buzzer, an indicator light, and a display screen.

[0092] In addition, in the above embodiment, the remote controller 20 has a start-stop operating element, a speed control element, a switching operating element and a prompting unit, but is not limited to this. At least a part of the start-stop operating element, the speed control element, the switching operating element and the prompting unit may be omitted.

[0093] In addition, in the above embodiment, the direction operating member can also be set to switch the forward and reverse directions of the vehicle 10. For example, when the direction operating member of the direction operating member is operated upward, the vehicle 10 moves forward; on the other hand, when the direction operating member of the direction operating member is operated downward, the vehicle 10 moves backward. In this way, the vehicle 10 can be controlled more flexibly.

[0094] Furthermore, in the above-described embodiment, the vehicle 10 includes the auxiliary device 18 and the radiator 19 , but the present invention is not limited thereto, and at least one of the auxiliary device 18 and the radiator 19 may be omitted depending on circumstances.

[0095] It should be understood that within the scope of the present invention, various parts in the embodiments can be freely combined, or various parts in the embodiments can be appropriately deformed or omitted.

Claims

1. A method for steering zeroing of a vehicle, wherein the vehicle (10) has a steering system (SS), the steering system (SS) has a wheel (11), a driving source (12) for driving the wheel (11) to steer, and a control unit (13) for controlling the driving source (12), the control unit (13) having a detection unit for detecting the steering angle of the wheel (11) based on its own zero position, characterized in that: A remote controller (20) is used, and the remote controller (20) has: a direction operating member, and the direction operating member is used to issue a steering instruction to the control unit (13); and a zeroing operating element, the zeroing operating element being used to issue a zeroing instruction to the control unit (13), Including zero marking operation, the zero marking operation includes: A first step (S1), in which it is determined whether the vehicle (10) is traveling in a straight line. When the vehicle (10) is not traveling in a straight line, a steering command is issued to the control unit (13) by using the remote controller (20), so that the driving source (12) drives the wheel (11) to turn, so that the vehicle travels in a straight line. as well as The second step (S2) is to use the remote controller (20) to send a homing instruction to the control unit (13) while the vehicle (10) is traveling in a straight line, so as to homing the detection unit to update the zero position.

2. The vehicle steering zeroing method according to claim 1, characterized in that: After the zeroing operation, a verification operation is performed. In the verification operation, the vehicle (10) is driven for a preset distance while the detection value of the detection unit is set to zero. When the deviation of the position of the vehicle (10) relative to the reference position is greater than a preset value, the zeroing operation is performed again.

3. The vehicle steering zeroing method according to claim 1, characterized in that: In the first step, the vehicle (10) is driven along a marking line on the ground, and whether the vehicle (10) is driving in a straight line is determined based on the relative position between the vehicle (10) and the marking line.

4. The vehicle steering zeroing method according to claim 2, characterized in that: In the verification operation, the vehicle (10) is driven along a verification straight line on the ground for a preset distance while the detection value of the detection unit is set to zero. When the deviation of the position of the vehicle (10) relative to the verification straight line is greater than a preset value, the zeroing operation is performed again.

5. The vehicle steering zeroing method according to claim 2, characterized in that: The remote controller (20) also has a speed control element. The speed control element is used to issue instructions to the control unit (13) to control the speed of the vehicle (10). In the verification operation, the speed control member is used to make the vehicle (10) travel at a speed greater than the speed in the second step.

6. The vehicle steering zeroing method according to claim 1, characterized in that: The remote controller (20) also has a switching operation member. The switching operating member is used to switch between a first steering mode and a second steering mode of the direction operating member, wherein the steering angle change of the wheel corresponding to a unit movement of the direction operating member in the first steering mode is smaller than the steering angle change of the wheel corresponding to a unit movement of the direction control member in the second steering mode, In the second step, the direction operating member is first placed in the second steering mode, and then placed in the first steering mode.

7. The vehicle steering zeroing method according to claim 1, characterized in that: The remote controller (20) further comprises one or more of a start / stop operating element and a prompting unit. The start-stop operating member is used to issue an instruction to the control unit (13) to start or stop the vehicle (10). The prompting unit provides prompt information in conjunction with the movement of the zeroing operating member.

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