Steer-by-wire and active stabilizer bar integrated dual-motor redundant system and control method

Abstract

The invention relates to the technical field of automobile steering control and transverse stabilizer bar control, in particular to a steer-by-wire and active stabilizer bar integrated dual-motor redundant system and a control method. According to the technical scheme, the steer-by-wire and active stabilizer bar integrated dual-motor redundant system comprises a steer-by-wire device, an active stabilizer bar device, a second clutch, a controller, a first power source and a second power source; the steer-by-wire device is in signal connection with the controller; the active stabilizer bar device is connected with the steer-by-wire device through a second clutch; the controller is in signal connection with the active stabilizer bar device; the first power supply is electrically connected with the steer-by-wire device and the controller; the second power source is electrically connected with the active stabilizer bar device and the controller. The high reliability of the steer-by-wire system is guaranteed, meanwhile, the cost and size problems caused by additionally adding a special redundant motor are avoided, and the technical problem of how to provide 100% steering torque when a down-rotating motor fails is solved.

Description

Technical Field

[0001] This invention relates to the field of automotive steering control and lateral stabilizer bar control technology, and particularly to a dual-motor redundant system and control method integrating steer-by-wire and active stabilizer bar. It is mainly applicable to the steer-by-wire system of intelligent electric vehicles, and is especially suitable for high-level driver assistance and autonomous driving vehicles that require high safety and redundancy design. Background Technology

[0002] With the development of autonomous driving technology, steer-by-wire systems have gradually become a key component of intelligent electric vehicles. Steer-by-wire systems replace traditional mechanical connections with electronic signals, improving steering agility and driving comfort. However, the single-motor design of steer-by-wire systems carries the risk of a single point of failure; if the motor fails, steering assist will be completely lost, seriously affecting driving safety. Therefore, improving the reliability and redundancy of steer-by-wire systems has become an important research area in the current technological field.

[0003] Currently, the industry mainly addresses the redundancy issue of steer-by-wire systems in two ways: first, by employing a dual-motor parallel design, where two motors operate simultaneously as backups for each other; and second, by using a dual-winding motor solution, where two relatively independent windings are contained within a single motor housing. While the dual-motor parallel design improves reliability and provides redundancy, both motors are dedicated to steering, increasing system complexity and leading to increased system size, weight, and cost. Furthermore, it can only provide 50% of the steering torque when a single motor fails. The dual-winding motor solution presents challenges in terms of rack and pinion speed and heat generation, and it cannot achieve fully electronic control, thus reducing the overall performance of the autonomous driving system. In addition, existing solutions do not fully utilize the potential redundancy capabilities of other vehicle systems. Summary of the Invention

[0004] This invention provides a dual-motor redundant system and control method integrating steer-by-wire and active stabilizer bar, which solves the problem of how to avoid the cost and volume problems caused by adding an extra dedicated redundant motor while ensuring the high reliability of the steer-by-wire system, and solves the technical problem of how to provide 100% steering torque when the lower motor fails.

[0005] To achieve one of the technical objectives, the present invention adopts the following solution: a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, comprising a steer-by-wire device, an active stabilizer bar device, a second clutch, a controller, a first power supply, and a second power supply; The steer-by-wire device is connected to the controller via a signal connection and is used to control the steering of the wheels; The active stabilizer bar is connected to the steer-by-wire device via a second clutch to control vehicle stability and provide backup redundancy for the steer-by-wire device; The controller is signal-connected to the active stabilizer bar device and is used to control the steer-by-wire device and the active stabilizer bar device; The first power source is electrically connected to the steer-by-wire device and the controller, providing power to the steer-by-wire device; The second power source is electrically connected to the active stabilizer bar device and the controller, providing power to the active stabilizer bar device.

[0006] Furthermore, it also includes a sensor array, which is connected to the controller signal to monitor the vehicle's steering status and attitude in real time.

[0007] Furthermore, the steer-by-wire system is used for the front wheels and includes a steering gear and a down-turn motor; The steering gear is connected to the wheel drive; The lower motor is connected to the steering gear via transmission, the lower motor is connected to the controller via signal, and the lower motor is electrically connected to the first power source.

[0008] Furthermore, the steer-by-wire system is used for the rear wheels and includes a steering gear, a down-turn motor, and a third clutch; The steering gear is connected to the wheel drive; The lower motor is connected to the steering gear via a third clutch, the lower motor is connected to the controller via signal, and the lower motor is electrically connected to the first power source.

[0009] Furthermore, the active stabilizer bar device includes an active stabilizer bar body, a stabilizer bar motor, and a first clutch; The stabilizer bar motor is connected to the active stabilizer bar body via a first clutch, and the active stabilizer bar body is used to stabilize the vehicle body. The stabilizer bar motor is coupled to the lower rotary motor via a second clutch; The stabilizer bar motor is electrically connected to the second power source.

[0010] Furthermore, the downspin motor is a permanent magnet synchronous motor, and the stabilizer bar motor is also a permanent magnet synchronous motor.

[0011] Furthermore, the controller includes a circuit board and a first chip and a second chip disposed on the circuit board. The first chip is connected to the steer-by-wire device, the active stabilizer bar device, and a first power signal. The second chip is connected to the steer-by-wire device, the active stabilizer bar device, and the second power supply signal.

[0012] Furthermore, the sensor group includes a steering wheel angle sensor, a torque sensor, and a rack position sensor.

[0013] To achieve this second technical objective, the present invention also discloses a control method for a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, applicable to the front wheels, comprising the following steps; S. The controller checks whether the steering-by-wire device and the active stabilizer bar device are functioning properly; If both the steer-by-wire system and the active stabilizer bar are functioning correctly, then proceed. S. When the second clutch disengages, the lower steering motor controls the steering gear and controls the wheel steering; when the first clutch engages, the stabilizer bar motor controls the active stabilizer bar body and controls vehicle stability. If the steer-by-wire system malfunctions but the active stabilizer bar system functions normally, then proceed. S. The second clutch engages, the first clutch disengages, the stabilizer bar motor couples with the lower steering motor through the second clutch to control the steering gear, and the active stabilizer bar device degrades and fails. If the steer-by-wire system is functioning normally but the active stabilizer bar system is malfunctioning, then proceed. S. The active stabilizer bar device has been downgraded and failed. When the second clutch engages abnormally, the first clutch disengages, ensuring steering function.

[0014] To achieve this third technical objective, the present invention also discloses a control method for a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, applicable to the rear wheels, comprising the following steps; A. The controller checks whether the steering-by-wire system and active stabilizer bar are functioning properly; If both the steer-by-wire system and the active stabilizer bar are functioning correctly, then proceed. B. When the second clutch disengages and the third clutch engages, the lower steering motor controls the steering gear to control wheel steering; when the first clutch engages, the stabilizer bar motor controls the active stabilizer bar body to control vehicle stability. If the steer-by-wire system malfunctions but the active stabilizer bar system functions normally, then proceed. C. The second and third clutches engage, the first clutch disengages, the stabilizer bar motor couples with the lower steering motor through the second clutch to control the steering gear, and the active stabilizer bar device degrades and fails. If the steer-by-wire system is functioning normally but the active stabilizer bar system is malfunctioning, then proceed. D. The active stabilizer bar device has failed due to degradation. When the second clutch engages abnormally, the first clutch disengages and the third clutch engages, ensuring steering function.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention discloses a dual-motor redundancy system integrating steer-by-wire and active stabilizer bar. The active stabilizer bar device built into the vehicle provides backup redundancy for the steer-by-wire device, eliminating the need to add additional redundant equipment to the vehicle, thereby saving interior space and reducing costs. It provides 100% assist torque when the steer-by-wire device fails, improving driving safety. The system has a compact structure and is easy to integrate into existing vehicle platforms. Attached Figure Description

[0016] Figure 1 A schematic diagram of a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, provided for an embodiment of the present invention; Figure 2 A flowchart illustrating a control method for a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, as provided in an embodiment of the present invention; Figure 3 This is another flowchart illustrating a control method for a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, as provided in an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Steering gear; 2. Downward steering motor; 3. Controller; 4. Active stabilizer bar body; 5. Stabilizer bar motor; 6. First clutch; 7. Second clutch; 8. Third clutch; 9. First power supply; 10. Second power supply; 11. Wheel. Detailed Implementation

[0018] To fully understand the purpose, features and effects of the present invention, the present invention will be described in detail through the following specific embodiments, but the present invention is not limited thereto.

[0019] like Figure 1 As shown, the present invention discloses a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, including a steer-by-wire device, an active stabilizer bar device, a second clutch 7, a controller 3, a first power supply 9, and a second power supply 10; The steer-by-wire device is connected to the controller 3 via a signal and is used to control the steering of the wheels 11; The active stabilizer bar is connected to the steer-by-wire device via the second clutch 7, and is used to control vehicle stability and provide backup redundancy for the steer-by-wire device; Controller 3 is connected to the active stabilizer bar device via signal connection and is used to control the steer-by-wire device and the active stabilizer bar device; The first power source 9 is electrically connected to the steer-by-wire device and the controller 3, and provides power to the steer-by-wire device; The second power supply 10 is electrically connected to the active stabilizer bar device and the controller 3, providing power to the active stabilizer bar device.

[0020] Furthermore, it also includes a sensor array, which is signal-connected to the controller 3 for real-time monitoring of the vehicle's steering status and attitude.

[0021] Furthermore, the steer-by-wire device is used for the front wheels and includes a steering gear 1 and a down-turn motor 2; Steering gear 1 is connected to wheel 11 via a transmission. The lower motor 2 is connected to the steering gear 1 via transmission, the lower motor 2 is connected to the controller 3 via signal, and the lower motor 2 is connected to the first power supply 9 via electrical connection.

[0022] Furthermore, the steer-by-wire device is used for the rear wheels and includes a steering gear 1, a down-turn motor 2, and a third clutch 8; Steering gear 1 is connected to wheel 11 via a transmission. The lower motor 2 is connected to the steering gear 1 via the third clutch 8, the lower motor 2 is connected to the controller 3 via signal, and the lower motor 2 is connected to the first power supply 9 via electrical connection.

[0023] Furthermore, the active stabilizer bar device includes an active stabilizer bar body 4, a stabilizer bar motor 5, and a first clutch 6; The stabilizer bar motor 5 is connected to the active stabilizer bar body 4 via the first clutch 6. The active stabilizer bar body 4 is used to stabilize the vehicle body. Stabilizer bar motor 5 is coupled to lower rotary motor 2 via second clutch 7; The stabilizer bar motor 5 is electrically connected to the second power supply 10.

[0024] Furthermore, the downspin motor 2 is a permanent magnet synchronous motor, and the stabilizer bar motor 5 is a permanent magnet synchronous motor.

[0025] Furthermore, the controller 3 includes a circuit board and a first chip and a second chip disposed on the circuit board. The first chip is connected to the steering-by-wire device, the active stabilizer bar device and the first power supply 9 via signal connection. The second chip is connected to the steer-by-wire device, the active stabilizer bar device, and the second power supply 10.

[0026] Both the first and second chips have full-function algorithms. Both the first and second chips can control all the clutches and one motor, thus achieving redundancy backup of the controller.

[0027] Furthermore, the sensor group includes a steering wheel angle sensor, a torque sensor, and a rack position sensor.

[0028] like Figure 2 As shown, the present invention also discloses a control method for a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, applicable to the front wheels, including the following steps; S1, Controller 3 checks whether the steering-by-wire device and active stabilizer bar device are functioning properly; If both the steer-by-wire system and the active stabilizer bar are functioning correctly, then proceed. S2, the second clutch 7 disengages, the lower motor 2 controls the steering gear 1, and controls the wheels 11 to turn; the first clutch 6 engages, the stabilizer bar motor 5 controls the active stabilizer bar body 4, and controls the vehicle body stability. If the steer-by-wire device malfunctions (including but not limited to failure of the lower steering motor 2 or failure of the first power supply 9), but the active stabilizer bar device is functioning normally, then proceed. S3, the second clutch 7 engages, the first clutch 6 disengages, the stabilizer bar motor 5 is coupled to the lower steering motor 2 through the second clutch 7, controlling the steering gear 1, and the active stabilizer bar device is degraded and fails. If the steer-by-wire system is functioning normally, but the active stabilizer bar system is malfunctioning (including but not limited to stabilizer bar motor 5 failure and second power supply 10 failure), then proceed. S4. Active stabilizer bar device downgraded and failed; When the second clutch 7 engages abnormally, the first clutch 6 disengages, ensuring steering function.

[0029] like Figure 3 As shown, the present invention also discloses a control method for a dual-motor redundant system integrating steer-by-wire and active stabilizer bar, applicable to the rear wheels, including the following steps; A. Controller 3 checks whether the steering-by-wire device and active stabilizer bar device are functioning properly; If both the steer-by-wire system and the active stabilizer bar are functioning correctly, then proceed. B. The second clutch 7 disengages, the third clutch 8 engages, the lower motor 2 controls the steering gear 1, and controls the wheels 11 to steer; the first clutch 6 engages, the stabilizer bar motor 5 controls the active stabilizer bar body 4, and controls the vehicle body stability. If the steer-by-wire system malfunctions but the active stabilizer bar system functions normally, then proceed. C. The second clutch 7 and the third clutch 8 are engaged, the first clutch 6 is disengaged, the stabilizer bar motor 5 is coupled to the lower steering motor 2 through the second clutch 7, and controls the steering gear 1, causing the active stabilizer bar device to degrade and fail. If the steer-by-wire system is functioning normally but the active stabilizer bar system is malfunctioning, then proceed. D. The active stabilizer bar device has failed due to degradation. When the second clutch 7 engages abnormally, the first clutch 6 disengages and the third clutch 8 engages, ensuring steering function.

[0030] Finally, it should be noted that the above-listed embodiments are merely preferred embodiments of the present invention. Of course, those skilled in the art can make modifications and variations to the present invention. If such modifications and variations fall within the scope of the claims of the present invention and their equivalents, they should be considered as being within the protection scope of the present invention.

Claims

1. A dual-motor redundant system integrating steer-by-wire and active stabilizer bar, characterized in that, Includes a steer-by-wire device, an active stabilizer bar device, a second clutch (7), a controller (3), a first power supply (9), and a second power supply (10); The steer-by-wire device is signal-connected to the controller (3) and is used to control the steering of the wheels (11); The active stabilizer bar device is connected to the steer-by-wire device via the second clutch (7) to control vehicle stability and provide backup redundancy for the steer-by-wire device; The controller (3) is signal-connected to the active stabilizer bar device and is used to control the steer-by-wire device and the active stabilizer bar device; The first power source (9) is electrically connected to the steer-by-wire device and the controller (3) to provide power to the steer-by-wire device; The second power source (10) is electrically connected to the active stabilizer bar device and the controller (3) to provide power to the active stabilizer bar device.

2. The dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 1, characterized in that, It also includes a sensor group, which is signal-connected to the controller (3) for real-time monitoring of vehicle steering status and vehicle attitude.

3. The dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 2, characterized in that, The steer-by-wire device is used for the front wheels and includes a steering gear (1) and a down-turn motor (2). The steering gear (1) is connected to the wheel (11) in a transmission connection; The down-rotating motor (2) is connected to the steering gear (1) via transmission, the down-rotating motor (2) is connected to the controller (3) via signal, and the down-rotating motor (2) is connected to the first power supply (9) via electrical connection.

4. The dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 2, characterized in that, The steer-by-wire device is used for the rear wheels and includes a steering gear (1), a down-turn motor (2), and a third clutch (8). The steering gear (1) is connected to the wheel (11) via a transmission. The down-rotating motor (2) is connected to the steering gear (1) via the third clutch (8), the down-rotating motor (2) is connected to the controller (3) via signal, and the down-rotating motor (2) is connected to the first power supply (9).

5. A dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 3 or 4, characterized in that, The active stabilizer bar device includes an active stabilizer bar body (4), a stabilizer bar motor (5), and a first clutch (6). The stabilizer bar motor (5) is connected to the active stabilizer bar body (4) via the first clutch (6), and the active stabilizer bar body (4) is used to stabilize the vehicle body; The stabilizer bar motor (5) is coupled to the down-rotating motor (2) via the second clutch (7); The stabilizer motor (5) is electrically connected to the second power supply (10).

6. A dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 5, characterized in that, The downspin motor (2) is a permanent magnet synchronous motor, and the stabilizer motor (5) is a permanent magnet synchronous motor.

7. A dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 6, characterized in that, The controller (3) includes a circuit board and a first chip and a second chip disposed on the circuit board. The first chip is connected to the steering-by-wire device, the active stabilizer bar device and the first power supply (9) via signal connection. The second chip is connected to the steering-by-wire device, the active stabilizer bar device and the second power supply (10) signal.

8. A dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 7, characterized in that, The sensor group includes a steering wheel angle sensor, a torque sensor, and a rack position sensor.

9. The control method of a dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 5, characterized in that, For front wheels, the following steps are included; S1. The controller (3) detects whether the steering-by-wire device and the active stabilizer bar device are normal; If both the steering-by-wire device and the active stabilizer bar device are functioning properly, then proceed; S2. The second clutch (7) disengages, the lower turn motor (2) controls the steering gear (1) and controls the wheels (11) to turn; the first clutch (6) engages, the stabilizer bar motor (5) controls the active stabilizer bar body (4) and controls the vehicle body to stabilize. If the steering-by-wire device malfunctions but the active stabilizer bar device functions normally, then proceed. S3, the second clutch (7) engages, the first clutch (6) disengages, the stabilizer bar motor (5) is coupled to the down-turn motor (2) through the second clutch (7) to control the steering gear (1), and the active stabilizer bar device is degraded and fails; If the steering-by-wire device is functioning normally, but the active stabilizer bar device is malfunctioning, then proceed; S4. Active stabilizer bar device has failed due to degradation. When the second clutch (7) engages abnormally, the first clutch (6) disengages, ensuring steering function.

10. The control method of a dual-motor redundant system integrating steer-by-wire and active stabilizer bar according to claim 5, characterized in that, For rear wheels, the procedure includes the following steps; A. The controller (3) detects whether the steering-by-wire device and the active stabilizer bar device are functioning properly; If both the steering-by-wire device and the active stabilizer bar device are functioning properly, then proceed; B. The second clutch (7) disengages, the third clutch (8) engages, the down-turn motor (2) controls the steering gear (1) and controls the wheels (11) to turn; the first clutch (6) engages, the stabilizer bar motor (5) controls the active stabilizer bar body (4) and controls the vehicle body to stabilize. If the steering-by-wire device malfunctions but the active stabilizer bar device functions normally, then proceed. C. The second clutch (7) and the third clutch (8) engage, the first clutch (6) disengages, the stabilizer bar motor (5) is coupled to the down-turn motor (2) through the second clutch (7) to control the steering gear (1), and the active stabilizer bar device is degraded and fails. If the steering-by-wire device is functioning normally, but the active stabilizer bar device is malfunctioning, then proceed; D. The active stabilizer bar device has failed due to degradation. When the second clutch (7) engages abnormally, the first clutch (6) disengages and the third clutch (8) engages, ensuring the steering function.

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