Vehicle steering control system and vehicle

Abstract

The invention provides a steering control system of a vehicle. The steering control system comprises an intelligent driving controller, an electric control steering controller, a storage battery, a wheel edge angle sensor, a hydraulic pump, a high-voltage power supply, a steering electric control hydraulic valve group, a left hydraulic cylinder, a right hydraulic cylinder and a steering shaft. And the intelligent driving controller sends the requested steering angle to the electric control steering controller through the CAN bus. The wheel edge angle sensor monitors the real-time steering angle of the wheel, the electric control steering controller adjusts flow distribution of the steering electric control hydraulic valve set based on the request steering angle, the real-time steering angle of the wheel and a PID control method, then the total flow of oil in the hydraulic pump flowing into the hydraulic cylinder is controlled, and then the steering shaft is pushed to rotate. Each component in the system is provided with a main device and a redundant device so as to ensure stable operation. Through real-time angle monitoring and optimized flow control, the system can accurately control the steering angle of the vehicle, and the error between the control steering angle and the target steering angle is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle steering control, and in particular to a vehicle steering control system and a vehicle. Background Art

[0002] As intelligent driving technology is increasingly used in heavy-duty commercial vehicles, it is particularly important to ensure the robustness of the vehicle's steering system. Although vehicle steering is one of the most common operations in intelligent driving functions, once the steering system fails, it may lead to serious consequences. At present, many heavy-duty commercial vehicles' intelligent driving systems use non-full-redundant electronic hydraulic steering systems. However, the use of non-full-redundant electronic hydraulic steering systems may cause certain key components in the steering system to fail, resulting in loss of control of the vehicle's steering and increasing the risk of accidents.

[0003] In addition, the steering angle monitoring sensor in traditional smart driving vehicles is located at the input shaft of the mechanical steering gear. Therefore, there is a certain delay and error when controlling the steering angle to reach the target angle, which affects the accuracy and response speed of the steering system, and thus poses a potential threat to the stability and safety of the vehicle.

[0004] Therefore, how to improve the reliability, stability and safety of the vehicle steering system while reducing the error between the control angle and the target angle to reduce the risk of accidents is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] Based on the above problems, the present application provides a vehicle steering control system and a vehicle, which can improve the reliability, stability and safety of the vehicle steering system, while reducing the error between the control angle and the target angle to reduce the risk of accidents.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] A vehicle steering control system, the system comprising: an intelligent driving controller, an electronically controlled steering controller, a battery, a wheel angle sensor, a hydraulic pump, a high-voltage power supply, a steering electronically controlled hydraulic valve group, a left hydraulic cylinder, a right hydraulic cylinder, and a steering shaft; the electronically controlled steering controller, the battery, the wheel angle sensor, the hydraulic pump, the high-voltage power supply, the steering electronically controlled hydraulic valve group, the left hydraulic cylinder, the right hydraulic cylinder, and the steering shaft all comprise main equipment and redundant equipment;

[0008] The intelligent driving controller is connected to the electronic steering controller through a controller area network CAN bus; the battery is electrically connected to the electronic steering controller; the wheel angle sensor is electrically connected to the electronic steering controller; the electronic steering controller is electrically connected to the steering electronic hydraulic valve group; the steering electronic hydraulic valve group is connected to the hydraulic pump through a hydraulic pipeline; the hydraulic pump is connected to the left hydraulic cylinder and the right hydraulic cylinder through a hydraulic pipeline; the left hydraulic cylinder and the right hydraulic cylinder are mechanically connected to the steering shaft respectively; the high-voltage power supply is electrically connected to the hydraulic pump;

[0009] The battery is used to supply power to the electronically controlled steering controller;

[0010] The intelligent driving controller is used to send the requested steering angle to the electronic steering controller via the CAN bus; the requested steering angle is determined by the user based on driving requirements;

[0011] The wheel angle sensor is used to monitor the real-time steering angle of the vehicle's wheels;

[0012] The electronically controlled steering controller is used to control the flow distribution parameters of the electronically controlled steering hydraulic valve group based on the requested steering angle, the real-time steering angle of the wheel and the proportional integral differential PID control method; the flow distribution parameters are used to indicate the total oil flow rate of the oil output flow flowing into the left hydraulic cylinder and the right hydraulic cylinder;

[0013] The steering electronically controlled hydraulic valve group is used to control the total oil output flow of the hydraulic pump based on the flow distribution parameter; the oil in the hydraulic pump is provided by the hydraulic oil tank of the vehicle; the high-voltage power supply is used to power the hydraulic pump;

[0014] The left hydraulic cylinder is used to receive the oil output by the hydraulic pump and drive the steering shaft to rotate based on the oil flow in the left hydraulic cylinder;

[0015] The right hydraulic cylinder is used to receive the oil output by the hydraulic pump and to drive the steering shaft to rotate based on the oil flow in the right hydraulic cylinder.

[0016] In a possible implementation, the electronically controlled steering controller includes a main electronically controlled steering controller and a redundant electronically controlled steering controller; the battery includes a main battery and a redundant battery; the wheel angle sensor includes a first main left wheel angle sensor, a second left wheel angle sensor, a first right wheel angle sensor and a second right wheel angle sensor; the hydraulic pump includes a main hydraulic pump and a redundant hydraulic pump; the high-voltage power supply includes a main high-voltage power supply and a redundant high-voltage power supply; the steering electronically controlled hydraulic valve group includes a main steering electronically controlled hydraulic valve group and a redundant steering electronically controlled hydraulic valve group; the left hydraulic cylinder includes a main left hydraulic cylinder and a redundant left hydraulic cylinder; the right hydraulic cylinder includes a main right hydraulic cylinder and a redundant right hydraulic cylinder; the steering shaft includes a main steering shaft and a redundant steering shaft: any two of the first left wheel angle sensor, the second left wheel angle sensor, the first right wheel angle sensor and the second right wheel angle sensor are redundant; the CAN bus includes a main CAN bus and a redundant CAN bus;

[0017] The intelligent driving controller is connected to the main electronic steering controller through the main CAN bus and the redundant CAN bus; the intelligent driving controller is connected to the redundant electronic steering controller through the main CAN bus and the redundant CAN bus; the main electronic steering controller is electrically connected to the redundant electronic steering controller; the main battery is electrically connected to the main electronic steering controller and the redundant electronic steering controller respectively; the redundant battery is electrically connected to the main electronic steering controller and the redundant electronic steering controller respectively; the first left wheel side angle sensor, the second left wheel side angle sensor, the first right wheel side angle sensor and the second right wheel side angle sensor are electrically connected to the main electronic steering controller and the redundant electronic steering controller respectively; the main electronic steering controller is electrically connected to the main steering electronic hydraulic valve group and the redundant steering electronic control The hydraulic valve group is electrically connected; the redundant electronically controlled steering controller is electrically connected to the main steering electronically controlled hydraulic valve group and the redundant electronically controlled steering hydraulic valve group respectively; the main steering electronically controlled hydraulic valve group is connected to the main hydraulic pump through a hydraulic pipeline; the redundant electronically controlled steering hydraulic valve group is connected to the redundant hydraulic pump through a hydraulic pipeline; the main hydraulic pump is connected to the main left hydraulic cylinder and the main right hydraulic cylinder through hydraulic pipelines respectively; the redundant hydraulic pump is connected to the redundant left hydraulic cylinder and the redundant right hydraulic cylinder through hydraulic pipelines respectively; the main left hydraulic cylinder and the main right hydraulic cylinder are mechanically connected to the main steering shaft respectively; the redundant left hydraulic cylinder and the redundant right hydraulic cylinder are mechanically connected to the redundant steering shaft respectively; the main high-voltage power supply is electrically connected to the main hydraulic pump and the redundant hydraulic pump respectively; the redundant high-voltage power supply is electrically connected to the main hydraulic pump and the redundant hydraulic pump respectively;

[0018] Among them, when the main device fails, the work of the main device is performed by the redundant device; when the main CAN bus fails, the intelligent driving controller sends the requested steering angle and the intelligent driving request status activation signal to the electronic steering controller through the redundant CAN bus; when both the main left hydraulic cylinder and the main right hydraulic cylinder fail, the work of the main left hydraulic cylinder and the main right hydraulic cylinder is performed by the redundant left hydraulic cylinder and the redundant right hydraulic cylinder.

[0019] In a possible implementation, the system further includes a redundant backup valve; the redundant backup valve is connected to the main hydraulic pump and the redundant hydraulic pump through a hydraulic pipeline; the redundant backup valve is also electrically connected to the electronically controlled steering controller;

[0020] When the main hydraulic pump fails, the electronically controlled steering controller controls the redundant backup valve to open, so that the electronically controlled steering hydraulic valve group controls the total oil output flow of the redundant hydraulic pump based on the flow distribution parameter.

[0021] In a possible implementation, when the use state of the electronic steering controller is the electronic steering available state, the electronic steering controller periodically sends the electronic steering available state to the intelligent driving controller through the CAN bus;

[0022] When the intelligent driving controller receives the periodic available state of the electronic steering sent by the electronic steering controller, the use state of the intelligent driving controller enters the intelligent driving activation state, and the intelligent driving controller sends the intelligent driving activation state to the electronic steering controller through the CAN bus;

[0023] When the electronic steering controller receives the intelligent driving activation status sent by the intelligent driving controller, the usage status of the electronic steering controller changes from the electronic steering available state to the electronic steering activation state, and the electronic steering controller periodically sends the electronic steering activation state to the intelligent driving controller through the CAN bus.

[0024] In a possible implementation, when the intelligent driving controller receives the periodic electronic steering activation status sent by the electronic steering controller, the intelligent driving controller sends a requested steering angle and an intelligent driving request status activation signal to the electronic steering controller through the CAN bus.

[0025] In a possible implementation, the intelligent driving controller is connected to the electronically controlled steering controller via the CAN bus; the wheel angle sensor is electrically connected to the electronically controlled steering controller; the intelligent driving controller obtains the real-time steering angle of the wheel of the wheel angle sensor from the electronically controlled steering controller via the CAN line;

[0026] When the real-time steering angle of the wheel received by the intelligent driving controller is consistent with the requested steering angle, the intelligent driving controller sends an exit intelligent driving request signal to the electronic steering controller through the CAN bus;

[0027] After the electronic steering controller receives the exit intelligent driving request signal, the usage state of the electronic steering controller enters the electronic steering available state.

[0028] A vehicle comprises the vehicle steering control system as described above.

[0029] Compared with the prior art, this application has the following beneficial effects:

[0030] The present application provides a vehicle-based steering control system, including: an intelligent driving controller, an electronically controlled steering controller, a battery, a wheel angle sensor, a hydraulic pump, a high-voltage power supply, a steering electronically controlled hydraulic valve group, a left hydraulic cylinder, a right hydraulic cylinder, and a steering shaft. Among them, all components except the intelligent driving controller include main equipment and redundant equipment. The battery is used to power the electronically controlled steering controller. The intelligent driving controller sends the requested steering angle to the electronically controlled steering controller through the CAN bus, and the requested steering angle is determined by the user based on driving requirements. The wheel angle sensor can monitor the real-time steering angle of the vehicle's wheels. The electronically controlled steering controller controls the flow distribution parameters of the steering electronically controlled hydraulic valve group based on the requested steering angle, the real-time steering angle of the wheels, and the proportional integral differential PID control method. The flow distribution parameters can indicate the total flow rate of the oil output, and the oil in the hydraulic pump is provided by the vehicle's hydraulic oil tank. The steering electronically controlled hydraulic valve group controls the total oil output flow rate of the hydraulic pump based on the flow distribution parameters. The high-voltage power supply is used to power the hydraulic pump. The left hydraulic cylinder receives the oil output by the hydraulic pump and drives the steering shaft to rotate based on the oil flow in the left hydraulic cylinder; the right hydraulic cylinder also receives the oil output by the hydraulic pump and drives the steering shaft to rotate based on the oil flow in the right hydraulic cylinder. The components of the vehicle's steering control system in this application include main equipment and redundant equipment, which greatly improves the reliability of the system. If a component fails, the redundant equipment can continue to work to avoid system failure. Secondly, by equipping the left and right wheel angle sensors, the system can monitor the steering angle of each wheel in real time. This real-time monitoring can reduce the steering angle monitoring delay and error existing in traditional systems, thereby improving the accuracy and response speed of the system. Finally, the redundant design and precise control of the system help to improve the overall safety of the vehicle and reduce the risk of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of the structure of a steering control system for a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] To facilitate understanding of the technical solutions provided by the embodiments of the present application, the background technology involved in the embodiments of the present application will be described below.

[0035] The commanded angle is the actual steering angle currently applied by the system. This is the angle that the vehicle's steering system actually achieves in operation.

[0036] The target angle is the desired angle or target value set by the system, which represents the steering angle that the vehicle should achieve to ensure that the vehicle travels along the intended path.

[0037] As intelligent driving technology is increasingly used in heavy-duty commercial vehicles, it is particularly important to ensure the robustness of the vehicle's steering system. Although vehicle steering is one of the most common operations in intelligent driving functions, once the steering system fails, it may lead to serious consequences. At present, many heavy-duty commercial vehicles' intelligent driving systems use non-full-redundant electronic hydraulic steering systems. However, the use of non-full-redundant electronic hydraulic steering systems may cause certain key components in the steering system to fail, resulting in loss of control of the vehicle's steering and increasing the risk of accidents.

[0038] In addition, in traditional intelligent driving vehicles, the steering gear angle monitoring sensor is usually installed at the upper input shaft of the mechanical steering gear. However, in reality, the vehicle steering is controlled by the wheel rim angle, and the two need to be connected through a specific mechanism. Therefore, there is a certain delay and error when the control angle reaches the target angle. This delay and error may affect the accuracy and response speed of the steering system, thereby posing a potential threat to the stability and safety of the vehicle.

[0039] In order to solve this problem, a vehicle-based steering control system is provided in an embodiment of the present application, including: an intelligent driving controller, an electronically controlled steering controller including a main device and a redundant device, a battery, a left and right wheel angle sensor, a hydraulic pump, a high-voltage power supply, a steering electronically controlled hydraulic valve group, a left and right hydraulic cylinder and a steering shaft. The intelligent driving controller sends a steering angle request to the electronically controlled steering controller through the CAN bus. Based on the request and the wheel angle sensor data, the electronically controlled steering controller adjusts the flow distribution parameters of the steering electronically controlled hydraulic valve group through a PID control method, thereby controlling the total oil output flow of the hydraulic pump. The battery supplies power to the electronically controlled steering controller, and the high-voltage power supply supplies power to the hydraulic pump. The left and right hydraulic cylinders receive oil and drive the steering shaft to rotate. The vehicle steering control system has a main device and a redundant device, which enhances the system reliability. The left and right wheel angle sensors monitor the wheel steering angle in real time, eliminating the monitoring delay and error of the traditional system, and improving the accuracy and response speed. The redundant design and accurate control of the system help improve overall safety and reduce the risk of accidents.

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] See also Figure 1 , Figure 1 The following is a schematic diagram of the structure of a vehicle steering control system provided in an embodiment of the present application. Figure 1 The structure shown includes an intelligent driving controller 02, an electronically controlled steering controller, a battery, a wheel angle sensor, a hydraulic pump, a high-voltage power supply, a steering electronically controlled hydraulic valve group, a left hydraulic cylinder, a right hydraulic cylinder, and a steering shaft. The electronically controlled steering controller, the battery, the wheel angle sensor, the hydraulic pump, the high-voltage power supply, the steering electronically controlled hydraulic valve group, the left hydraulic cylinder, the right hydraulic cylinder, and the steering shaft all include main equipment and redundant equipment. Specifically, the electronically controlled steering controller includes a main electronically controlled steering controller 110 (i.e. Figure 1 Controller 1) and redundant electronically controlled steering controller 210 (i.e. Figure 1 The controller 2); the battery includes a main battery 109 (ie Figure 1 The battery 1 in the system) and the redundant battery 209 (i.e. Figure 1The battery 2 in the wheel edge angle sensor includes a first left wheel edge angle sensor 104, a second left wheel edge angle sensor 204, a first right wheel edge angle sensor 108 and a second right wheel edge angle sensor 208; the hydraulic pump includes a main hydraulic pump 102 and a redundant hydraulic pump 202; the high-voltage power supply includes a main high-voltage power supply 101 and a redundant high-voltage power supply 201; the steering electronically controlled hydraulic valve group includes a main steering electronically controlled hydraulic valve group 103 and a redundant steering electronically controlled hydraulic valve group 203; the left hydraulic cylinder includes a main left hydraulic cylinder 105 and a redundant left hydraulic cylinder 205; the right hydraulic cylinder includes a main right hydraulic cylinder 107 and a redundant right hydraulic cylinder 207; the steering shaft includes a main steering shaft 106 and a redundant steering shaft 206; the controller area network (Controller Area Network CAN) bus includes a main CAN bus 111 (i.e. Figure 1 CAN1 in the CAN bus) and redundant CAN bus 211 (i.e. Figure 1 Any two of the first left wheel side angle sensor 104, the second left wheel side angle sensor 204, the first right wheel side angle sensor 108 and the second right wheel side angle sensor 208 are redundant with each other.

[0042] The intelligent driving controller 02 is connected to the electronic steering controller through the controller area network CAN bus; the battery is electrically connected to the electronic steering controller; the wheel angle sensor is electrically connected to the electronic steering controller; the electronic steering controller is electrically connected to the steering electronic hydraulic valve group; the steering electronic hydraulic valve group is connected to the hydraulic pump through a hydraulic pipeline; the hydraulic pump is connected to the left hydraulic cylinder and the right hydraulic cylinder through a hydraulic pipeline; the left hydraulic cylinder and the right hydraulic cylinder are mechanically connected to the steering shaft respectively; the high-voltage power supply is electrically connected to the hydraulic pump. Specifically, the intelligent driving controller 02 is connected to the main electronic steering controller 110 through the main CAN bus 111 and the redundant CAN bus 211; the intelligent driving controller 02 is connected to the redundant electronic steering controller 210 through the main CAN bus 111 and the redundant CAN bus 211; the main electronic steering controller 110 is electrically connected to the redundant electronic steering controller 210; the main battery 109 is electrically connected to the main electronic steering controller 110 and the redundant electronic steering controller 210 respectively; the redundant battery 209 is electrically connected to the main electronic steering controller 110 respectively and the redundant electronically controlled steering controller 210; the first left wheel side angle sensor 104 is electrically connected to the main electronically controlled steering controller 110 and the redundant electronically controlled steering controller 210 respectively; the first side wheel side angle sensor 108 is electrically connected to the main electronically controlled steering controller 110 and the redundant electronically controlled steering controller 210 respectively; the second left wheel side angle sensor 204 is electrically connected to the main electronically controlled steering controller 110 and the redundant electronically controlled steering controller 210 respectively; the second right wheel side angle sensor 208 is electrically connected to the main electronically controlled steering controller 110 and the redundant electronically controlled steering controller 210 respectively The main electronically controlled steering controller 110 is electrically connected to the main electronically controlled steering hydraulic valve group 103 and the redundant electronically controlled steering hydraulic valve group 203 respectively; the redundant electronically controlled steering controller 210 is electrically connected to the main electronically controlled steering hydraulic valve group 103 and the redundant electronically controlled steering hydraulic valve group 203 respectively; the main electronically controlled steering hydraulic valve group 103 is connected to the main hydraulic pump 102 through a hydraulic pipeline; the redundant electronically controlled steering hydraulic valve group 203 is connected to the redundant hydraulic pump 202 through a hydraulic pipeline; the main hydraulic pump 102 is connected to the main left hydraulic cylinder 105 and the main right hydraulic cylinder 106 respectively. The cylinder 107 is connected through a hydraulic pipeline; the redundant hydraulic pump 202 is respectively connected to the redundant left hydraulic cylinder 205 and the redundant right hydraulic cylinder 207 through hydraulic pipelines; the main left hydraulic cylinder 105 and the main right hydraulic cylinder 107 are respectively mechanically connected to the main steering shaft 106; the redundant left hydraulic cylinder 205 and the redundant right hydraulic cylinder 207 are respectively mechanically connected to the redundant steering shaft 206; the main high-voltage power supply 101 is respectively electrically connected to the main hydraulic pump 102 and the redundant hydraulic pump 202; the redundant high-voltage power supply is respectively electrically connected to the main hydraulic pump 102 and the redundant hydraulic pump 202.

[0043] The battery is used to supply power to the electronically controlled steering controller.

[0044] The intelligent driving controller is used to send the requested steering angle to the electronic steering controller via the CAN bus.

[0045] In a possible implementation, the requested steering angle is determined by the user based on driving requirements. The target angle is a target steering angle requested by the intelligent driving system based on factors such as road conditions and traffic conditions. This angle is a target value set to meet specific driving requirements.

[0046] The wheel angle sensor is used to monitor the real-time steering angle of the vehicle's wheels.

[0047] It should be noted that the left wheel angle sensor is usually installed on the left wheel side of the vehicle, while the right wheel angle sensor is installed on the right wheel side of the vehicle. This installation ensures that the controller can accurately monitor and control the steering angles of the corresponding wheels. The left wheel angle sensor is responsible for monitoring the steering status of the left wheel, while the right wheel angle sensor is specifically used to monitor the steering status of the right wheel. Through these angle sensors installed near the left and right wheels respectively, the intelligent driving system can more accurately monitor and adjust the steering behavior of each wheel, thereby improving the stability and accuracy of vehicle steering.

[0048] The electronically controlled steering controller is used to control the flow distribution parameters of the steering electronically controlled hydraulic valve group based on the requested steering angle, the real-time steering angle of the left wheel, the real-time steering angle of the right wheel and a proportional integral derivative (PID) control method; the flow distribution parameters are used to indicate the size of the total output flow of the oil.

[0049] Specifically, when the electronic steering controller adjusts the flow distribution parameters of the steering electronic control hydraulic valve group through the PID control method, it first needs to calculate the difference between the requested steering angle and the actual left and right wheel steering angles, and then convert these differences into control signals through proportional, integral and differential terms. The proportional term reflects the current difference, the integral term processes the accumulated difference, and the differential term predicts the error change trend. Finally, the control signal is used to adjust the flow of the hydraulic valve group to accurately control the steering angle of the wheel and ensure that the system is consistent with the needs of the driver's input.

[0050] Among them, the flow distribution parameter indicates the total flow of the oil output, and the distribution ratio of the total flow of the oil output between the left and right hydraulic cylinders is freely distributed. The flow distribution of the hydraulic valve group is adjusted by the control signal calculated by the PID controller, so as to accurately control the total flow of the oil flowing into the hydraulic cylinder to ensure that the wheel steering angle matches the requested angle. The flow distribution parameter acts on the steering electronic control hydraulic valve group. By setting the flow distribution parameter, the flow control valve in the steering electronic control hydraulic valve group can be adjusted to control the flow of the oil.

[0051] It should be noted that the PID control method is a feedback control strategy widely used in automatic control systems to adjust and optimize system performance. PID is the abbreviation of the three controller functions of "proportional-integral-differential", each of which has its specific functions and effects:

[0052] (1) Proportional (P):

[0053] Function: Adjust the output according to the current error (the difference between the target value and the actual value). The purpose of proportional control is to reduce the error.

[0054] Features: Proportional gain determines the response strength of the control system to errors. The higher the gain, the faster the response, but it may introduce system instability.

[0055] (2) Integral (I):

[0056] Function: Adjust the output according to the accumulation of past errors. The purpose of integral control is to eliminate steady-state errors so that the system eventually reaches the target value.

[0057] Features: Integral action can eliminate long-term deviations in the system, but may result in slower system response and may cause oscillation in some cases.

[0058] (3) Derivative (D):

[0059] Function: Adjust the output according to the error change rate. The purpose of differential control is to predict future errors and suppress rapid changes in errors.

[0060] Features: Differential action helps to improve the stability and response speed of the system and reduce overshoot and oscillation.

[0061] The steering electronically controlled hydraulic valve group is used to control the total oil output flow of the hydraulic pump based on the flow distribution parameter.

[0062] That is to say, the steering electronically controlled hydraulic valve group can control the total oil output flow of the hydraulic pump according to the flow distribution parameters.

[0063] The oil in the hydraulic pump is provided by the hydraulic oil tank of the vehicle. The high voltage power supply is used to power the hydraulic pump.

[0064] The left hydraulic cylinder is used to receive the oil output by the hydraulic pump and drive the steering shaft to rotate based on the oil flow in the left hydraulic cylinder;

[0065] The right hydraulic cylinder is used to receive the oil output by the hydraulic pump and to drive the steering shaft to rotate based on the oil flow in the right hydraulic cylinder.

[0066] The left and right hydraulic cylinders receive the oil output from the hydraulic pump respectively, and drive the steering shaft to rotate according to the oil flow in each hydraulic cylinder. Specifically, the hydraulic pump distributes the oil flow to the left and right hydraulic cylinders through the steering electronic control hydraulic valve group. The left hydraulic cylinder drives the left wheel to rotate based on the received oil flow, while the right hydraulic cylinder drives the right wheel to rotate. This hydraulic drive system ensures the precise rotation of the steering shaft and realizes effective control of the vehicle steering.

[0067] In one possible implementation, the left hydraulic cylinder and the right hydraulic cylinder are mechanically connected to the left wheel edge and the right wheel edge of the steering shaft respectively, thereby pushing the left and right wheels to swing in corresponding directions, thereby realizing the vehicle steering function.

[0068] In a possible implementation, when a main device of any component in the steering control system of a vehicle fails, the work of the main device can be performed by its corresponding redundant device.

[0069] Similarly, when the main CAN bus 111 fails, the intelligent driving controller 02 can send a requested steering angle and an intelligent driving request status activation signal to the electronic steering controller via the redundant CAN bus 211 .

[0070] It should also be noted that, for the hydraulic cylinders, only when both the main left hydraulic cylinder and the main right hydraulic cylinder fail, will the redundant left hydraulic cylinder and the redundant right hydraulic cylinder perform the work of the main left hydraulic cylinder and the main right hydraulic cylinder.

[0071] In a possible implementation, the system further includes a redundant backup valve 01; the redundant backup valve 01 is connected to the main hydraulic pump and the redundant hydraulic pump through a hydraulic pipeline; the redundant backup valve 01 is also electrically connected to the electronically controlled steering controller;

[0072] When the main hydraulic pump 102 fails, the electronically controlled steering controller controls the redundant backup valve 01 to open, so that the electronically controlled steering hydraulic valve group controls the total oil output flow of the redundant hydraulic pump 202 based on the flow distribution parameter.

[0073] In one possible implementation,

[0074] When the use state of the electronic steering controller is the electronic steering available state, the electronic steering controller periodically sends the electronic steering available state to the intelligent driving controller through the CAN bus;

[0075] When the intelligent driving controller receives the periodic electronic steering available state sent by the electronic steering controller, the use state of the intelligent driving controller enters the intelligent driving activation state, and the intelligent driving controller sends the intelligent driving activation state to the electronic steering controller through the CAN bus;

[0076] When the electronic steering controller receives the intelligent driving activation status sent by the intelligent driving controller, the usage status of the electronic steering controller changes from the electronic steering available state to the electronic steering activation state, and the electronic steering controller periodically sends the electronic steering activation state to the intelligent driving controller through the CAN bus.

[0077] Specifically, when the electronic steering controller is in an available state, it will send the available state to the intelligent driving controller 02 via the CAN bus at a fixed period. Once the intelligent driving controller 02 receives this information, its state will enter the activated state and send the activated state to the electronic steering controller. When the electronic steering controller receives the activated state, its state will change from the available state to the activated state, and send this state back to the intelligent driving controller at a fixed period. This interaction and state update process helps to ensure effective communication and collaboration between the electronic steering system and the intelligent driving controller.

[0078] In a possible implementation, when the intelligent driving controller receives the periodic electronic steering activation status sent by the electronic steering controller, the intelligent driving controller sends a requested steering angle and an intelligent driving request status activation signal to the electronic steering controller through the CAN bus.

[0079] Only when the intelligent driving controller 02 receives the activation status periodically sent by the electronic steering controller, the intelligent driving controller will send the requested steering angle and intelligent driving request status activation signal to the electronic steering controller through the CAN bus. This communication process helps ensure that the intelligent driving system can effectively exchange the required information with the electronic steering system, achieving more intelligent and automated vehicle driving control.

[0080] In a possible implementation, the intelligent driving controller is connected to the electronically controlled steering controller via the CAN bus; the wheel angle sensor is electrically connected to the electronically controlled steering controller; the intelligent driving controller obtains the real-time steering angle of the wheel of the wheel angle sensor from the electronically controlled steering controller via the CAN line;

[0081] When the real-time steering angle of the wheel received by the intelligent driving controller is consistent with the requested steering angle, the intelligent driving controller sends an exit intelligent driving request signal to the electronic steering controller through the CAN bus;

[0082] After the electronic steering controller receives the exit intelligent driving request signal, the usage state of the electronic steering controller enters the electronic steering available state.

[0083] When the real-time steering angles of the left and right wheels received by the intelligent driving controller 02 are consistent with the requested steering angles, the intelligent driving controller 02 will send an exit intelligent driving request signal to the electronic steering controller through the CAN bus. After receiving the exit intelligent driving request signal, the electronic steering controller will change its use state from the activated state to the available state. This interactive process allows the intelligent driving system to synchronize and coordinate operations with the electronic steering system to ensure the accuracy and stability of the vehicle's steering function.

[0084] In addition, the present application also provides a vehicle, comprising the steering control system of the vehicle as described above.

[0085] The embodiment of the present application provides a steering control system for a vehicle, including: an intelligent driving controller 02, an electronically controlled steering controller, a battery, left and right wheel angle sensors, a hydraulic pump, a high-voltage power supply, a steering electronically controlled hydraulic valve group, left and right hydraulic cylinders, and a steering shaft. All components (except the intelligent driving controller 02) are equipped with a main device and a redundant device. The intelligent driving controller 02 sends a steering angle request through the CAN bus, and the electronically controlled steering controller uses a PID control method to adjust the flow distribution of the hydraulic valve group according to these requests and real-time angle data. The hydraulic pump is powered by a high-voltage power supply, and the hydraulic oil flows into the left and right hydraulic cylinders through the steering electronically controlled hydraulic valve group to drive the steering shaft to rotate. The present application significantly improves the reliability of the system by introducing the design of the main device and redundant equipment, ensuring that the redundant equipment can continue to operate when a component fails, thereby avoiding overall failure of the system. The system is equipped with left and right wheel angle sensors, which realizes real-time monitoring of the steering angle of each wheel, reduces the monitoring delay and error in the traditional system, and thus improves accuracy and response speed. In addition, this redundant design and precise control help improve the overall safety of the vehicle and reduce the risk of accidents.

[0086] The above is a detailed introduction to a steering control system for a vehicle provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0087] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0088] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A vehicle steering control system, characterized in that: The system includes: an intelligent driving controller, an electronically controlled steering controller, a battery, a wheel angle sensor, a hydraulic pump, a high-voltage power supply, a steering electronically controlled hydraulic valve group, a left hydraulic cylinder, a right hydraulic cylinder, and a steering shaft; the electronically controlled steering controller, the battery, the wheel angle sensor, the hydraulic pump, the high-voltage power supply, the steering electronically controlled hydraulic valve group, the left hydraulic cylinder, the right hydraulic cylinder, and the steering shaft all include main equipment and redundant equipment; The intelligent driving controller is connected to the electronic steering controller through a controller area network CAN bus; the battery is electrically connected to the electronic steering controller; the wheel angle sensor is electrically connected to the electronic steering controller; the electronic steering controller is electrically connected to the steering electronic hydraulic valve group; the steering electronic hydraulic valve group is connected to the hydraulic pump through a hydraulic pipeline; the hydraulic pump is connected to the left hydraulic cylinder and the right hydraulic cylinder through a hydraulic pipeline; the left hydraulic cylinder and the right hydraulic cylinder are mechanically connected to the steering shaft respectively; the high-voltage power supply is electrically connected to the hydraulic pump; The battery is used to supply power to the electronically controlled steering controller; The intelligent driving controller is used to send the requested steering angle to the electronic steering controller via the CAN bus; the requested steering angle is determined by the user based on driving requirements; The wheel angle sensor is used to monitor the real-time steering angle of the vehicle's wheels; The electronically controlled steering controller is used to control the flow distribution parameters of the electronically controlled steering hydraulic valve group based on the requested steering angle, the real-time steering angle of the wheel and the proportional integral differential PID control method; the flow distribution parameters are used to indicate the total oil flow rate of the oil output flow flowing into the left hydraulic cylinder and the right hydraulic cylinder; The steering electronically controlled hydraulic valve group is used to control the total oil output flow of the hydraulic pump based on the flow distribution parameter; the oil in the hydraulic pump is provided by the hydraulic oil tank of the vehicle; the high-voltage power supply is used to power the hydraulic pump; The left hydraulic cylinder is used to receive the oil output by the hydraulic pump and drive the steering shaft to rotate based on the oil flow in the left hydraulic cylinder; The right hydraulic cylinder is used to receive the oil output by the hydraulic pump and to drive the steering shaft to rotate based on the oil flow in the right hydraulic cylinder.

2. The system according to claim 1, characterized in that The electronically controlled steering controller includes a main electronically controlled steering controller and a redundant electronically controlled steering controller; the battery includes a main battery and a redundant battery; the wheel edge angle sensor includes a first main left wheel edge angle sensor, a second left wheel edge angle sensor 、 The first right wheel angle sensor and the second right wheel angle sensor; the hydraulic pump includes a main hydraulic pump and a redundant hydraulic pump; the high-voltage power supply includes a main high-voltage power supply and a redundant high-voltage power supply; the steering electronically controlled hydraulic valve group includes a main steering electronically controlled hydraulic valve group and a redundant steering electronically controlled hydraulic valve group; the left hydraulic cylinder includes a main left hydraulic cylinder and a redundant left hydraulic cylinder; the right hydraulic cylinder includes a main right hydraulic cylinder and a redundant right hydraulic cylinder; the steering shaft includes a main steering shaft and a redundant steering shaft: any two of the first left wheel angle sensor, the second left wheel angle sensor, the first right wheel angle sensor and the second right wheel angle sensor are redundant with each other; the CAN bus includes a main CAN bus and a redundant CAN bus; The intelligent driving controller is connected to the main electronic steering controller through the main CAN bus and the redundant CAN bus; the intelligent driving controller is connected to the redundant electronic steering controller through the main CAN bus and the redundant CAN bus; the main electronic steering controller is electrically connected to the redundant electronic steering controller; the main battery is electrically connected to the main electronic steering controller and the redundant electronic steering controller respectively; the redundant battery is electrically connected to the main electronic steering controller and the redundant electronic steering controller respectively; the first left wheel side angle sensor, the second left wheel side angle sensor 、 The first right wheel side angle sensor and the second right wheel side angle sensor are electrically connected to the main electronically controlled steering controller and the redundant electronically controlled steering controller respectively; the main electronically controlled steering controller is electrically connected to the main steering electronically controlled hydraulic valve group and the redundant steering electronically controlled hydraulic valve group respectively; the redundant electronically controlled steering controller is electrically connected to the main steering electronically controlled hydraulic valve group and the redundant steering electronically controlled hydraulic valve group respectively; the main steering electronically controlled hydraulic valve group is connected to the main hydraulic pump through a hydraulic pipeline; the redundant steering electronically controlled hydraulic valve group is connected to the redundant hydraulic pump through a hydraulic pipeline ; The main hydraulic pump is connected to the main left hydraulic cylinder and the main right hydraulic cylinder through hydraulic pipelines respectively; the redundant hydraulic pump is connected to the redundant left hydraulic cylinder and the redundant right hydraulic cylinder through hydraulic pipelines respectively; the main left hydraulic cylinder and the main right hydraulic cylinder are mechanically connected to the main steering shaft respectively; the redundant left hydraulic cylinder and the redundant right hydraulic cylinder are mechanically connected to the redundant steering shaft respectively; the main high-voltage power supply is electrically connected to the main hydraulic pump and the redundant hydraulic pump respectively; the redundant high-voltage power supply is electrically connected to the main hydraulic pump and the redundant hydraulic pump respectively; Wherein, when the main device fails, the work of the main device is performed by the redundant device; when the main CAN bus fails, the intelligent driving controller sends the requested steering angle and the intelligent driving request state activation signal to the electronic steering controller through the redundant CAN bus; When both the main left hydraulic cylinder and the main right hydraulic cylinder fail, the redundant left hydraulic cylinder and the redundant right hydraulic cylinder perform the work of the main left hydraulic cylinder and the main right hydraulic cylinder.

3. The system according to claim 2, characterized in that The system further comprises a redundant backup valve; the redundant backup valve is connected to the main hydraulic pump and the redundant hydraulic pump via a hydraulic pipeline; the redundant backup valve is also electrically connected to the electronically controlled steering controller; When the main hydraulic pump fails, the electronically controlled steering controller controls the redundant backup valve to open, so that the electronically controlled steering hydraulic valve group controls the total oil output flow of the redundant hydraulic pump based on the flow distribution parameter.

4. The system according to claim 1, characterized in that When the use state of the electronic steering controller is the electronic steering available state, the electronic steering controller periodically sends the electronic steering available state to the intelligent driving controller through the CAN bus; When the intelligent driving controller receives the periodic available state of the electronic steering sent by the electronic steering controller, the use state of the intelligent driving controller enters the intelligent driving activation state, and the intelligent driving controller sends the intelligent driving activation state to the electronic steering controller through the CAN bus; When the electronic steering controller receives the intelligent driving activation status sent by the intelligent driving controller, the usage status of the electronic steering controller changes from the electronic steering available state to the electronic steering activation state, and the electronic steering controller periodically sends the electronic steering activation state to the intelligent driving controller through the CAN bus.

5. The system according to claim 4, characterized in that When the intelligent driving controller receives the periodic electronic steering activation status sent by the electronic steering controller, the intelligent driving controller sends a request steering angle and an intelligent driving request status activation signal to the electronic steering controller through the CAN bus.

6. The system according to claim 1, characterized in that The intelligent driving controller is connected to the electronically controlled steering controller through the CAN bus; the wheel angle sensor is electrically connected to the electronically controlled steering controller; the intelligent driving controller obtains the real-time steering angle of the wheel of the wheel angle sensor from the electronically controlled steering controller through the CAN line; When the real-time steering angle of the wheel received by the intelligent driving controller is consistent with the requested steering angle, the intelligent driving controller sends an exit intelligent driving request signal to the electronic steering controller through the CAN bus; After the electronic steering controller receives the exit intelligent driving request signal, the usage state of the electronic steering controller enters the electronic steering available state.

7. A vehicle, characterized in that: A steering control system for a vehicle comprising the vehicle as claimed in any one of claims 1 to 6.

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