A neutral control device applied to vehicle steering

Abstract

The utility model relates to a kind of mid-position control device applied to vehicle steering, including displacement sensor module, controller and steering control module, the displacement sensor module includes right end position sensor, intermediate position sensor and left end position sensor;The utility model utilizes three sensors to detect the position of the steering transmission shaft of the driving gear of steering control rack, when the steering transmission shaft is located at intermediate position sensor, then intermediate position sensor output signal, to identify the mid-position of vehicle steering system;When vehicle switches from automatic driving to manual driving, its vehicle can compare the mid-position of the steering system identified with the mid-position of automatic driving to judge the difference, by setting right end position sensor and left end position sensor on the two sides of intermediate position sensor, the sensor on the two sides can be used to judge whether the steering transmission shaft is located on the left side or right side of mid-position, so as to adjust to the mid-position of steering system.

Description

Technical Field

[0001] This utility model relates to the field of vehicle steering control technology, specifically to a center position control device applied to vehicle steering. Background Technology

[0002] The principle of vehicle steering centering control is mainly applied in autonomous driving technology, achieving precise steering through real-time sensor monitoring and algorithm optimization. Specifically, the steering centering controller reads historical learning values ​​and combines them with signals from vehicle attitude sensors, vehicle speed, and cameras to determine whether the vehicle is traveling straight. When the vehicle is traveling straight, the system learns the centering position based on the steering wheel angle and updates the steering centering deviation learning value to optimize lateral control.

[0003] However, the mid-position control in autonomous driving technology mainly relies on AI for autonomous learning and real-time correction. Therefore, when a vehicle uses a rack and pinion steering control system, there is a significant difference between the mid-position of the rack and pinion steering control system and the mid-position of the vehicle's driving, which cannot be monitored or identified. This may lead to safety accidents after the vehicle is switched to manual driving. Utility Model Content

[0004] In order to address the technical problem that, in the prior art, when a vehicle uses a rack and pinion steering control system, the center position of the control system differs significantly from the vehicle's driving center position, and cannot be monitored or identified, potentially leading to safety accidents after switching to manual driving, this utility model provides a center position control device for vehicle steering.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A center position control device for vehicle steering includes a displacement sensor module, a controller, and a steering control module. The displacement sensor module includes a right-end position sensor, a middle position sensor, and a left-end position sensor. The right-end position sensor and the left-end position sensor are located on both sides of the middle position sensor, and the right-end position sensor, the middle position sensor and the left-end position sensor are linearly distributed along the length direction of the steering control rack of the vehicle steering control system. The signal input terminal of the controller is connected to the signal output terminal of the right position sensor, the signal output terminal of the middle position sensor, and the signal output terminal of the left position sensor, respectively. The signal output terminal of the controller is connected to the control terminal of the steering control module, the power input terminal of the steering control module is connected to the power supply voltage, and the power output terminal of the steering control module is connected to the power supply terminal of the steering control motor of the vehicle steering control system.

[0006] The beneficial effects of this invention are as follows: By setting three position sensors and using these three sensors to detect the position of the steering transmission shaft of the drive gear of the steering control rack, when the steering transmission shaft is located at the middle position sensor, the middle position sensor outputs a signal to identify the center position of the vehicle steering system; when the vehicle switches from autonomous driving to manual driving, the vehicle can compare the identified center position of the steering system with the center position of autonomous driving to determine the difference. If the difference is too large, the driver can judge whether the vehicle poses a driving risk based on the difference; at the same time, by setting right-end position sensors and left-end position sensors on both sides of the middle position sensor, the sensors on both sides can be used to determine whether the steering transmission shaft is located to the left or right of the center position, so as to adjust it to the center position of the steering system.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the steering control motor is a three-phase DC motor, and the steering control module includes three output terminals, which are respectively connected to the three-phase power supply terminals of the steering control motor.

[0009] Furthermore, the steering control module includes a gate drive unit and a motor drive unit. The signal output terminal of the controller is connected to the control input terminal of the gate drive unit, the drive output terminal of the gate drive unit is electrically connected to the control terminal of the motor drive unit, and the phase drive output terminal of the motor drive unit is connected to the three-phase power supply terminal of the steering control motor.

[0010] Furthermore, the gate driving unit is a MOSFET driver with model number AMT49101.

[0011] Furthermore, the motor drive unit includes a first MOSFET, a second MOSFET, a third MOSFET, a fourth MOSFET, a fifth MOSFET, a sixth MOSFET, a first resistor, a second resistor, and a third resistor; The drive output terminal of the gate drive unit is electrically connected to the gate of the first MOS transistor, the gate of the second MOS transistor, the gate of the third MOS transistor, the gate of the fourth MOS transistor, the gate of the fifth MOS transistor, and the gate of the sixth MOS transistor, respectively. The drains of the first MOSFET, the third MOSFET, and the fifth MOSFET are all connected to a power supply voltage. The source of the first MOSFET is electrically connected to the drain of the fourth MOSFET. The source of the fourth MOSFET is electrically connected to one end of the first resistor, and the other end of the first resistor is grounded. The source of the sixth MOSFET is electrically connected to one end of the second resistor, and the other end of the second resistor is grounded. The source of the second MOSFET is electrically connected to one end of the third resistor, and the other end of the third resistor is grounded. The three-phase power supply terminals of the steering control motor are electrically connected to the source of the first MOS transistor, the source of the third MOS transistor, and the source of the fifth MOS transistor, respectively.

[0012] Furthermore, it also includes a DC power supply module, which is a programmable power supply module. The control terminal of the DC power supply module is connected to the signal output terminal of the controller, the input terminal of the DC power supply module is connected to the power supply voltage, and the output terminal of the DC power supply module is connected to the power supply input terminal of the steering control module.

[0013] The advantage of adopting the above-mentioned further solution is that by setting up a DC power supply module, the power supply can be switched on and off under the control of the controller.

[0014] Furthermore, it also includes a leakage current protection module, the input terminal of which is connected to the power supply voltage, and the output terminal of which is connected to the input terminal of the DC power supply module.

[0015] The advantage of adopting the above-mentioned further solution is that by setting up a leakage protection module, leakage protection can be triggered when leakage occurs in the power supply circuit.

[0016] Furthermore, it also includes a switch module, one end of which is connected to the output terminal of the DC power supply module, and the other end of which is connected to the power input terminal of the steering control module through a power supply socket.

[0017] Furthermore, the switch module is a limit switch, and the switch module is located at the power supply socket.

[0018] The beneficial effect of adopting the above-mentioned further solution is that, by setting a limit switch, when the power supply plug of the steering control module is inserted into the power supply socket, the power supply plug triggers the limit switch to be turned on, and when the power supply plug is not inserted into the power supply socket, the limit switch is not triggered, and there is no voltage in the power supply socket, thus providing power supply safety.

[0019] Furthermore, the controller is a PLC (Programmable Logic Controller). Attached Figure Description

[0020] Figure 1This is a control principle diagram of the present invention; Figure 2 This is the circuit schematic of the steering control module.

[0021] The attached diagram lists the components represented by each number as follows: 1. Displacement sensor module; 2. Right position sensor; 3. Middle position sensor; 4. Left position sensor; 5. Controller; 6. Switch; 7. Leakage protection module; 8. DC power supply module; 9. Switch module; 10. Steering control motor; 11. Steering control module. Detailed Implementation

[0022] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0023] like Figure 1 As shown, this embodiment provides a center position control device for vehicle steering, including a displacement sensor module 1, a controller 5, and a steering control module 11. The displacement sensor module 1 includes a right-end position sensor 2, a middle position sensor 3, and a left-end position sensor 4; the controller 5 is a PLC programmable logic controller.

[0024] The right-end position sensor 2 and the left-end position sensor 4 are located on both sides of the middle position sensor 3, and the right-end position sensor 2, the middle position sensor 3 and the left-end position sensor 4 are linearly distributed along the length direction of the steering control rack of the vehicle steering control system. The signal input terminal of the controller 5 is connected to the signal output terminal of the right position sensor 2, the signal output terminal of the middle position sensor 3, and the signal output terminal of the left position sensor 4, respectively. The signal output terminal of the controller 5 is connected to the control terminal of the steering control module 11, the power input terminal of the steering control module 11 is connected to the power supply voltage, and the power output terminal of the steering control module 11 is connected to the power supply terminal of the steering control motor 10 of the vehicle steering control system.

[0025] This embodiment of the invention uses three position sensors to detect the position of the steering drive shaft of the steering control rack drive gear. When the steering drive shaft is located at the middle position sensor 3, the middle position sensor 3 outputs a signal to identify the center position of the vehicle steering system. When the vehicle switches from autonomous driving to manual driving, the vehicle can compare the identified center position of the steering system with the center position of the autonomous driving system to determine the difference. If the difference is too large, the driver can judge whether the vehicle poses a driving risk based on the difference. At the same time, by setting the right position sensor 2 and the left position sensor 4 on both sides of the middle position sensor 3, the sensors on both sides can be used to determine whether the steering drive shaft is located to the left or right of the center position, so that the controller 5 can control the steering control motor 10 to rotate and adjust the steering drive shaft to the center position of the steering system.

[0026] In some embodiments, the above-mentioned mid-position control device further includes a DC power supply module 8, which is a programmable power supply module. The control terminal of the DC power supply module 8 is connected to the signal output terminal of the controller 5 through a switch 6. The input terminal of the DC power supply module 8 is connected to the power supply voltage, and the output terminal of the DC power supply module 8 is connected to the power supply input terminal of the steering control module 11. By setting the DC power supply module 8, the power supply can be switched on and off under the control of the controller 5.

[0027] In some embodiments, the above-mentioned mid-position control device further includes a leakage current protection module 7. The input terminal of the leakage current protection module 7 is connected to the power supply voltage, and the output terminal of the leakage current protection module 7 is connected to the input terminal of the DC power supply module 8. The leakage current protection module 7 is specifically selected as a leakage current protector. By setting the leakage current protection module 7, leakage current protection can be triggered when leakage occurs in the power supply circuit.

[0028] In some embodiments, the above-mentioned mid-position control device further includes a switch module 9, one end of which is connected to the output terminal of the DC power supply module 8, and the other end of which is connected to the power input terminal of the steering control module 11 through a power supply socket.

[0029] The switch module 9 is a limit switch, and it is located at the power supply socket. By setting the limit switch, when the power supply plug of the steering control module 11 is inserted into the power supply socket, the power supply plug triggers the limit switch to turn on; when the power supply plug is not inserted into the power supply socket, the limit switch is not triggered, and there is no voltage at the power supply socket, thus providing power supply safety.

[0030] like Figure 2 As shown, the steering control motor 10 is a three-phase DC motor, and the steering control module 11 includes three output terminals, which are respectively connected to the three-phase power supply terminals of the steering control motor 10.

[0031] The steering control module 11 includes a gate drive unit and a motor drive unit. The signal output terminal of the controller 5 is connected to the control input terminal of the gate drive unit. The drive output terminal of the gate drive unit is electrically connected to the control terminal of the motor drive unit. The phase drive output terminal of the motor drive unit is connected to the three-phase power supply terminal of the steering control motor 10. The gate drive unit is an AMT49101 MOSFET driver.

[0032] The motor drive unit includes a first MOSFET Q1, a second MOSFET Q2, a third MOSFET Q3, a fourth MOSFET Q4, a fifth MOSFET Q5, a sixth MOSFET Q6, a first resistor R1, a second resistor R2, and a third resistor R3.

[0033] The drive output terminal of the gate drive unit is electrically connected to the gate of the first MOS transistor Q1, the gate of the second MOS transistor Q2, the gate of the third MOS transistor Q3, the gate of the fourth MOS transistor Q4, the gate of the fifth MOS transistor Q5, and the gate of the sixth MOS transistor Q6, respectively.

[0034] The drains of the first MOSFET Q1, the third MOSFET Q3, and the fifth MOSFET Q5 are all connected to a power supply voltage. The source of the first MOSFET Q1 is electrically connected to the drain of the fourth MOSFET Q4, and the source of the fourth MOSFET Q4 is electrically connected to one end of the first resistor R1, with the other end of the first resistor R1 grounded. The source of the sixth MOSFET Q6 is electrically connected to one end of the second resistor R2, with the other end of the second resistor R2 grounded. The source of the second MOSFET Q2 is electrically connected to one end of the third resistor R3, with the other end of the third resistor R3 grounded.

[0035] The three-phase power supply terminals of the steering control motor 10 are respectively electrically connected to the source of the first MOS transistor Q1, the source of the third MOS transistor Q3, and the source of the fifth MOS transistor Q5.

[0036] In this embodiment, a three-phase full-bridge motor drive unit is constructed using six N-channel power MOSFETs. These six MOSFETs are divided into two groups: three high-side MOSFETs are connected to the other end of the switching module via a power supply connector, and three low-side MOSFETs are connected to the negative terminal of the power supply or ground. By controlling the on / off state of the six MOSFETs, the current is distributed among the three windings of the steering control motor 10, thereby driving the steering control motor 10 to operate.

[0037] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the concept and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A center-position control device for vehicle steering, characterized in that: It includes a displacement sensor module (1), a controller (5) and a steering control module (11). The displacement sensor module (1) includes a right-end position sensor (2), a middle position sensor (3) and a left-end position sensor (4). The right-end position sensor (2) and the left-end position sensor (4) are located on both sides of the middle position sensor (3), and the right-end position sensor (2), the middle position sensor (3) and the left-end position sensor (4) are linearly distributed along the length direction of the steering control rack of the vehicle steering control system. The signal input terminal of the controller (5) is connected to the signal output terminal of the right position sensor (2), the signal output terminal of the middle position sensor (3), and the signal output terminal of the left position sensor (4), respectively. The signal output terminal of the controller (5) is connected to the control terminal of the steering control module (11), the power input terminal of the steering control module (11) is connected to the power supply voltage, and the power output terminal of the steering control module (11) is connected to the power supply terminal of the steering control motor (10) of the vehicle steering control system.

2. The center position control device for vehicle steering according to claim 1, characterized in that: The steering control motor (10) is a three-phase DC motor, and the steering control module (11) includes three output terminals, which are respectively connected to the three-phase power supply terminals of the steering control motor (10).

3. The center position control device for vehicle steering according to claim 2, characterized in that: The steering control module (11) includes a gate drive unit and a motor drive unit. The signal output terminal of the controller (5) is connected to the control input terminal of the gate drive unit. The drive output terminal of the gate drive unit is electrically connected to the control terminal of the motor drive unit. The phase drive output terminal of the motor drive unit is connected to the three-phase power supply terminal of the steering control motor (10).

4. The center position control device for vehicle steering according to claim 3, characterized in that: The gate drive unit is a MOSFET driver of model AMT49101.

5. The center position control device for vehicle steering according to claim 4, characterized in that: The motor drive unit includes a first MOSFET (Q1), a second MOSFET (Q2), a third MOSFET (Q3), a fourth MOSFET (Q4), a fifth MOSFET (Q5), a sixth MOSFET (Q6), a first resistor (R1), a second resistor (R2), and a third resistor (R3). The drive output terminal of the gate drive unit is electrically connected to the gate of the first MOS transistor (Q1), the gate of the second MOS transistor (Q2), the gate of the third MOS transistor (Q3), the gate of the fourth MOS transistor (Q4), the gate of the fifth MOS transistor (Q5), and the gate of the sixth MOS transistor (Q6), respectively. The drains of the first MOSFET (Q1), the third MOSFET (Q3), and the fifth MOSFET (Q5) are all connected to a power supply voltage. The source of the first MOSFET (Q1) is electrically connected to the drain of the fourth MOSFET (Q4), and the source of the fourth MOSFET (Q4) is electrically connected to one end of the first resistor (R1), with the other end of the first resistor (R1) grounded. The source of the sixth MOSFET (Q6) is electrically connected to one end of the second resistor (R2), with the other end of the second resistor (R2) grounded. The source of the second MOSFET (Q2) is electrically connected to one end of the third resistor (R3), with the other end of the third resistor (R3) grounded. The three-phase power supply terminals of the steering control motor (10) are electrically connected to the source of the first MOS transistor (Q1), the source of the third MOS transistor (Q3), and the source of the fifth MOS transistor (Q5), respectively.

6. The center position control device for vehicle steering according to claim 1, characterized in that: It also includes a DC power supply module (8), which is a programmable power supply module. The control terminal of the DC power supply module (8) is connected to the signal output terminal of the controller (5), the input terminal of the DC power supply module (8) is connected to the power supply voltage, and the output terminal of the DC power supply module (8) is connected to the power supply input terminal of the steering control module (11).

7. The center position control device for vehicle steering according to claim 6, characterized in that: It also includes a leakage current protection module (7), the input terminal of which is connected to the power supply voltage, and the output terminal of which is connected to the input terminal of the DC power supply module (8).

8. The center position control device for vehicle steering according to claim 6, characterized in that: It also includes a switch module (9), one end of which is connected to the output terminal of the DC power supply module (8), and the other end of which is connected to the power input terminal of the steering control module (11) through a power supply socket.

9. The center position control device for vehicle steering according to claim 8, characterized in that: The switch module (9) is a limit switch, and the switch module (9) is located at the power supply socket.

10. The center position control device for vehicle steering according to claim 1, characterized in that: The controller (5) is a PLC programmable logic controller.

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